Carlos Luis

@araffin As I was going through the commit diff to document the changes, I realized that maybe removing the `GoalEnv` class is incompatible with HER? If that's the case, then...

> > I don't find where specifically such a warning is raised, but there's definitely a codepath that expects to find the compute_reward() method enforced by the GoalEnv interface. >...

Hello, Sadly I currently don't have MATLAB access so helping you on this will be a bit harder, but I'll try my best. As far as I remember, I left...

Sure, let me know how it goes! Based on the error message the way I would debug this is to put a break point in line 3 of ReachedGoal, and...

Hey, I just checked and [this](https://github.com/carlosluisg/multiagent_planning/blob/master/dmpc/matlab/dmpc_soft_bound2.m#L46) is at least part of the problem. We're setting up a minimum distance `r_min = 0.5` but here we're setting up the initial positions...

You can also try running [this script](https://github.com/carlosluisg/multiagent_planning/blob/master/dmpc/matlab/dmpc_soft_bound.m) instead, those initial positions seem correct Also, [here](https://github.com/carlosluisg/multiagent_planning/blob/master/dmpc/matlab/dmpc_soft_bound2.m#L132) the call should probably be to [this function](https://github.com/carlosluisg/multiagent_planning/blob/master/dmpc/matlab/solveSoftDMPCbound2.m) instead. From the top of my head...

At some point I need to come back to this and cleanu it up to make it usable, sorry you are encountering all these problems to run it

Hi, Sorry for the late reply. From the top of my head I don't know how to make cup-SCP and dec-SCP receding-horizon. Wouldn't that just end up being something akin...

Hello, Could you please go through all the comments on https://github.com/carlosluis/multiagent_planning/issues/3 to make sure the problem is not related to that? I feel it could be connected. Sadly, I don't...

Hi Felix, Thank you for contacting me and apologies for the delayed response. Indeed, that's a good alternative. I didn't realize the function belonged to a non-stock toolbox of MATLAB....