fixed partial observation sensing dynamics.#25
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piercehowell wants to merge 2 commits into
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kfu02
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May 22, 2024
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Changes seem logical. Can you attach a GIF / run validating that this works? Thanks
| package_obs = [] | ||
| out_of_obs_val = -0.0001 # default value used for out-of-observation data in the observation vector | ||
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| # spawn the sensor radius for each agent |
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is the sensor always attached to the agents?
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Yes, this is reset in the observation function for partial observability.
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I noticed that the partial observation sensing was buggy. I was using too simple of a rule to determine if the box was in the agents sensing distance, this happen to cause some agents to not see the box (if the agent radius was larger than the sensing radius). Additionally, the rule for sensing wasn't completely accurate.
To fix this, I did the following:
is_overlapping()function to accurately determine if the box is in the sensing radius