Implement ego pedestrian sensor functions and testing framework #89
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Actionable comments posted: 0
🧹 Outside diff range and nitpick comments (4)
robot_sf/gym_env/env_util.py (4)
10-10: Remove unused importThe
loguru.loggerimport is not used in this file and should be removed.-from loguru import logger🧰 Tools
🪛 Ruff (0.8.0)
10-10:
loguru.loggerimported but unusedRemove unused import:
loguru.logger(F401)
285-288: Address TODO comment about next goal selectionThe TODO comment indicates uncertainty about what next goal to choose for the ego pedestrian. This needs to be resolved as it could affect the sensor's functionality.
Would you like me to help design a solution for the next goal selection logic?
282-290: Add docstrings to new sensor functionsThe new ego pedestrian sensor functions would benefit from docstrings describing their purpose, parameters, and return values, similar to other functions in the codebase.
Example for
ray_sensor_ego_ped:def ray_sensor_ego_ped(): """ Get lidar ray scan observations for the ego pedestrian. Returns: numpy.ndarray: Array of ray scan distances from the ego pedestrian's perspective """ return lidar_ray_scan(sim.ego_ped.pose, occupancies[1], lidar_config)[0]
294-300: Consider using named constants for occupancy indicesThe code uses hardcoded indices (1) to access occupancies. Consider using named constants to make the code more maintainable and less error-prone.
+ # At the top of the file with other constants + ROBOT_OCCUPANCY_INDEX = 0 + EGO_PED_OCCUPANCY_INDEX = 1 sensor_fusions.append( SensorFusion( ray_sensor_ego_ped, speed_sensor_ego_ped, target_sensor_ego_ped, orig_obs_space[1], - False, + use_next_goal=False, # Named parameter for clarity ) )
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📒 Files selected for processing (2)
robot_sf/gym_env/env_util.py(2 hunks)tests/env_test.py(1 hunks)
✅ Files skipped from review due to trivial changes (1)
- tests/env_test.py
🧰 Additional context used
🪛 Ruff (0.8.0)
robot_sf/gym_env/env_util.py
10-10: loguru.logger imported but unused
Remove unused import: loguru.logger
(F401)
🔇 Additional comments (1)
robot_sf/gym_env/env_util.py (1)
282-300: Verify test coverage for new sensor functions
The implementation looks good and aligns with the PR objectives. Please ensure that there are corresponding tests for the new ego pedestrian sensor functions.
ll7
deleted the
88-Refactor-function-redefenition-in-`env_util`-for-pedestrian-env
branch
Introduce sensor functions for the ego pedestrian environment and add a main block to facilitate testing. Remove unnecessary debug logging from sensor implementations.
Fixes #88
Summary by CodeRabbit
New Features
Bug Fixes
Documentation