Removing tracker object from robot class

guided_mrmp/main.py

@@ -75,9 +75,6 @@ def initialize_robots(starts, goals, dynamics_models, env):
         print(f"waypoints = {waypoints}")
         
         r = Robot(i,color,RADIUS,start,goal,dynamics_model,3.0,1,.2,rrtpath,waypoints)
-        r.tracker.x_history.append(r.tracker.state[0])
-        r.tracker.y_history.append(r.tracker.state[1])
-        r.tracker.h_history.append(r.tracker.state[2])
         robots.append(r)
 
     return robots

guided_mrmp/utils/robot.py

@@ -14,11 +14,6 @@ class Robot:
         self.next_step = None
         self.next_control = None
 
-        # if rrtpath is not None:
-        #     from guided_mrmp.controllers.path_tracker import PathTracker
-        #     self.tracker = PathTracker(start, dynamics_model,target_v, T, DT, waypoints)
-        
-
         self.x_history = [start[0]]
         self.y_history = [start[1]]
         self.h_history = [start[2]]