fix drawing obstacles in simulator

guided_mrmp/simulator.py

@@ -27,7 +27,7 @@ class Simulator:
 
     def all_robots_at_goal(self):
         for r in self.robots:
-            if (np.sqrt((r.current_position[0] - r.goal[0]) ** 2 + (r.current_position[1] - r.goal[1]) ** 2) > 1):
+            if (np.sqrt((r.current_position[0] - r.goal[0]) ** 2 + (r.current_position[1] - r.goal[1]) ** 2) > 10):
                 return False
         return True
 
@@ -59,10 +59,12 @@ class Simulator:
     def draw_environment(self, screen):
         screen.fill((255,255,255))
         for obs in self.circ_obstacles:
-            pygame.draw.circle(screen, (0,0,0), obs[0:2]*self.scaling_factor, obs[2]*self.scaling_factor)
+            pygame.draw.circle(screen, (0,0,0), (obs[0]*self.scaling_factor,obs[1]*self.scaling_factor), obs[2]*self.scaling_factor)
         for obs in self.rect_obstacles:
             pygame.draw.rect(screen, (0,0,0), obs)
 
+        
+
     def draw_robots(self, screen):
         for robot in self.robots:
             x,y,yaw = robot.current_position
@@ -102,4 +104,4 @@ class Simulator:
             if show_vis: 
                 
                 pygame.display.flip()
-                    
+