fixed partial observation sensing dynamics. #25
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kfu02
requested changes
May 22, 2024
| @@ -444,12 +465,17 @@ def partial_observation(self, agent: Agent): | |||
| # get positions of all entities in this agent's reference frame | |||
| 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