Checkpoint 6

training/herding_env.py

@@ -56,24 +56,24 @@ _PROJECT_ROOT = os.path.normpath(os.path.join(_HERE, ".."))
 if _PROJECT_ROOT not in sys.path:
     sys.path.insert(0, _PROJECT_ROOT)
 
-from herding.diffdrive import (
+from herding.world.diffdrive import (
     heading_speed_to_wheels, kinematics_step, velocity_to_wheels,
 )
-from herding.flocking_sim import (
+from herding.world.flocking_sim import (
     FLEE_SPEED, MAX_SPEED, WANDER_SPEED, compute_heading_speed,
 )
-from herding.geometry import (
+from herding.world.geometry import (
     DOG_MAX_LINEAR, DOG_MAX_WHEEL_OMEGA, DOG_SOUTH_LIMIT, DOG_WHEEL_BASE,
     DOG_WHEEL_RADIUS, FIELD_X, FIELD_Y, GATE_X, MAX_SHEEP,
     PEN_ENTRY, PEN_X, PEN_Y,
     SHEEP_MAX_WHEEL_OMEGA, SHEEP_WHEEL_BASE, SHEEP_WHEEL_RADIUS,
     WEBOTS_DT, is_penned_position,
 )
-from herding.lidar_perception import detections_from_scan
-from herding.lidar_sim import simulate_scan
+from herding.perception.lidar_perception import detections_from_scan
+from herding.perception.lidar_sim import simulate_scan
 from herding.obs import OBS_DIM, build_obs
-from herding.sheep_tracker import SheepTracker
-from herding.strombom import compute_action as strombom_action
+from herding.perception.sheep_tracker import SheepTracker
+from herding.control.strombom import compute_action as strombom_action
 
 
 class HerdingEnv(gym.Env):