diff --git a/robot_sf/gym_env/env_util.py b/robot_sf/gym_env/env_util.py index ce29731..162381e 100644 --- a/robot_sf/gym_env/env_util.py +++ b/robot_sf/gym_env/env_util.py @@ -241,17 +241,14 @@ def init_ped_collision_and_sensors( # Define the ray sensor, target sensor, and speed sensor for the robot def ray_sensor(r_id=0): - logger.debug("ray_sensor: This is the first implementation called") return lidar_ray_scan(sim.robots[r_id].pose, occupancies[r_id], lidar_config)[0] def target_sensor(r_id=0): - logger.debug("target_sensor: This is the first implementation called") return target_sensor_obs( sim.robots[r_id].pose, sim.goal_pos[r_id], sim.next_goal_pos[r_id] ) def speed_sensor(r_id=0): - logger.debug("speed_sensor: This is the first implementation called") return sim.robots[r_id].current_speed # Initialize a sensor fusion object for the robot for sensor data handling @@ -283,17 +280,14 @@ def speed_sensor(r_id=0): ) def ray_sensor_ego_ped(): - logger.debug("ray_sensor: This is the second implementation called") return lidar_ray_scan(sim.ego_ped.pose, occupancies[1], lidar_config)[0] def target_sensor_ego_ped(): - logger.debug("target_sensor: This is the second implementation called") return target_sensor_obs( sim.ego_ped.pose, sim.ego_ped_goal_pos, None ) # TODO: What next goal to choose? def speed_sensor_ego_ped(): - logger.debug("speed_sensor: This is the second implementation called") return sim.ego_ped.current_speed sensor_fusions.append(