diff --git a/robot_sf/gym_env/env_util.py b/robot_sf/gym_env/env_util.py
index c06033d..ecde2ac 100644
--- a/robot_sf/gym_env/env_util.py
+++ b/robot_sf/gym_env/env_util.py
@@ -2,6 +2,7 @@
 env_util
 """
 from typing import List, Union
+from enum import Enum
 
 from gymnasium import spaces
 import numpy as np
@@ -14,6 +15,10 @@
 from robot_sf.sensor.sensor_fusion import fused_sensor_space, SensorFusion
 from robot_sf.sim.simulator import Simulator, PedSimulator
 
+class AgentType(Enum):
+    ROBOT = 1
+    PEDESTRIAN = 2
+
 def init_collision_and_sensors(
         sim: Simulator,
         env_config: EnvSettings,
@@ -91,18 +96,21 @@ def init_spaces(env_config: EnvSettings, map_def: MapDefinition):
         A tuple containing the action space, the extended observation space, and
         the original observation space of the robot.
     """
-    action_space, obs_space, orig_obs_space = create_spaces(env_config, map_def, create_robot=True)
+    action_space, obs_space, orig_obs_space = create_spaces(env_config, map_def, agent_type=AgentType.ROBOT)
     # Return the action space, the extended observation space, and the original
     # observation space
     return action_space, obs_space, orig_obs_space
 
 def create_spaces(env_config: Union[EnvSettings, PedEnvSettings], map_def: MapDefinition,
-                  create_robot: bool = True):
+                  agent_type: AgentType = AgentType.ROBOT):
     # Create a agent using the factory method in the environment configuration
-    if create_robot:
+    if agent_type == AgentType.ROBOT:
         agent = env_config.robot_factory()
-    else:
+    elif agent_type == AgentType.PEDESTRIAN:
         agent = env_config.pedestrian_factory()
+    else:
+        raise ValueError(f"Unsupported agent type: {agent_type}")
+
 
     # Get the action space from the agent
     action_space = agent.action_space
@@ -142,8 +150,8 @@ def init_ped_spaces(env_config: PedEnvSettings, map_def: MapDefinition):
         A tuple containing a list of action space, the extended observation space, and
         the original observation space of the robot and the pedestrian.
     """
-    action_space_robot, obs_space_robot, orig_obs_space_robot = create_spaces(env_config, map_def, create_robot=True)
-    action_space_ped, obs_space_ped, orig_obs_space_ped = create_spaces(env_config, map_def, create_robot=False)
+    action_space_robot, obs_space_robot, orig_obs_space_robot = create_spaces(env_config, map_def, agent_type=AgentType.ROBOT)
+    action_space_ped, obs_space_ped, orig_obs_space_ped = create_spaces(env_config, map_def, agent_type=AgentType.PEDESTRIAN)
 
     # As a list [robot, pedestrian]
     return [action_space_robot, action_space_ped], [obs_space_robot, obs_space_ped], [orig_obs_space_robot, orig_obs_space_ped]
diff --git a/robot_sf/gym_env/pedestrian_env.py b/robot_sf/gym_env/pedestrian_env.py
index 8a70607..4a581d2 100644
--- a/robot_sf/gym_env/pedestrian_env.py
+++ b/robot_sf/gym_env/pedestrian_env.py
@@ -195,8 +195,8 @@ def step(self, action):
         # if recording is enabled, record the state
         if self.recording_enabled:
             self.record()
-
-        return obs_ped, reward, term, False,{"step": meta["step"], "meta": meta}
+        truncated = False
+        return obs_ped, reward, term, truncated, {"step": meta["step"], "meta": meta}
 
     def reset(self, seed=None, options=None):
         """
diff --git a/robot_sf/render/sim_view.py b/robot_sf/render/sim_view.py
index 433c124..424dde9 100644
--- a/robot_sf/render/sim_view.py
+++ b/robot_sf/render/sim_view.py
@@ -367,8 +367,8 @@ def _augment_lidar(self, ray_vecs: np.ndarray):
     def _augment_action(self, action: VisualizableAction, color):
         r_x, r_y = action.pose[0]
         # scale vector length to be always visible
-        vec_length = action.robot_action[0] * self.scaling
-        vec_orient =  action.robot_pose[1]
+        vec_length = action.action[0] * self.scaling
+        vec_orient =  action.pose[1]
 
         def from_polar(length: float, orient: float) -> Vec2D:
             return cos(orient) * length, sin(orient) * length
diff --git a/robot_sf/sim/simulator.py b/robot_sf/sim/simulator.py
index 183190c..0d4a68d 100644
--- a/robot_sf/sim/simulator.py
+++ b/robot_sf/sim/simulator.py
@@ -239,7 +239,7 @@ def get_proximity_point(self, fixed_point: Tuple[float, float],
             if not self.is_obstacle_collision(new_x, new_y):
                 return new_x, new_y
 
-        logger.warning("Could not find a valid proximity point: {fixed_point}.")
+        logger.warning(f"Could not find a valid proximity point: {fixed_point}.")
         spawn_id = sample(self.map_def.ped_spawn_zones, k=1)[0] # Spawn in pedestrian spawn_zone
         initial_spawn = sample_zone(spawn_id, 1)[0]
         return initial_spawn