From 517c3134ca0eb68478b20d3e6765907f2476d8b5 Mon Sep 17 00:00:00 2001
From: Robin Meersman <echteenrobin@gmail.com>
Date: Thu, 7 May 2026 14:00:39 +0200
Subject: [PATCH] fix: rewrote info logger calls to debug calls for debug
 related logs

---
 .../environment/obs_processing.py                | 16 ++++++++--------
 src/brittle_star_project/ppo.py                  |  2 ++
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/brittle_star_project/environment/obs_processing.py b/src/brittle_star_project/environment/obs_processing.py
index a57f00b..41afe57 100644
--- a/src/brittle_star_project/environment/obs_processing.py
+++ b/src/brittle_star_project/environment/obs_processing.py
@@ -128,18 +128,18 @@ def create_obs_processor(
         for k, v in obs.items():
             if hasattr(v, "shape"):
                 size = v.size
-                logger11.info(f"[RAW] {k}: shape={v.shape}, size={size}")
+                logger11.debug(f"[RAW] {k}: shape={v.shape}, size={size}")
                 total += size
             else:
-                logger11.info(f"[RAW] {k}: non-array")
+                logger11.debug(f"[RAW] {k}: non-array")
 
-        logger11.info(f"[RAW TOTAL FEATURES]: {total}")
+        logger11.debug(f"[RAW TOTAL FEATURES]: {total}")
         output = {}
         num_agents = needed_copies  # IMPORTANT: number of MLPs
         for key, arr in obs.items():
             if key not in ordered_keys or arr.size == 0:
                 continue
-            logger11.info(f"[INPUT] {key}: {arr.shape}")
+            logger11.debug(f"[INPUT] {key}: {arr.shape}")
             if arr.ndim == 0:
                 arr = arr.reshape(1)
             # -------- CENTRALIZED --------
@@ -154,7 +154,7 @@ def create_obs_processor(
                 for i, agent_id in enumerate(agent_indices):
                     idx = segment_indices[i]
                     taken = jnp.take(arr, idx, axis=0)  # (segs, ...)
-                    logger11.info(f"WHY {taken.shape}")
+                    logger11.debug(f"WHY {taken.shape}")
                     # pad to 4
                     pad_len = 4 - taken.shape[0]
                     padded = jnp.pad(taken, [(0, pad_len)] + [(0, 0)] * (taken.ndim - 1))
@@ -182,7 +182,7 @@ def create_obs_processor(
             else:
                 out = jnp.repeat(arr[None, :], num_agents, axis=0)
 
-            logger11.info(f"[OUTPUT] {key}: {out.shape}")
+            logger11.debug(f"[OUTPUT] {key}: {out.shape}")
             output[key] = out
 
         return output
@@ -220,8 +220,8 @@ def create_obs_processor(
         processed = _normalize_features(processed)
         processed = _split_to_agents(processed, morph_mode)
         flat = _flatten_features(processed)  # (num_arms, total_feat)
-        logger11.info(f"[FLATTENED FINAL] shape: {flat.shape}")
-        logger11.info(f"[PER AGENT] example row 0 shape: {flat[0].shape}")
+        logger11.debug(f"[FLATTENED FINAL] shape: {flat.shape}")
+        logger11.debug(f"[PER AGENT] example row 0 shape: {flat[0].shape}")
         return _flatten_features(processed)  # (agents, feat)
 
     return jax.jit(jax.vmap(_process_single))
diff --git a/src/brittle_star_project/ppo.py b/src/brittle_star_project/ppo.py
index 79fea1c..fffc26b 100644
--- a/src/brittle_star_project/ppo.py
+++ b/src/brittle_star_project/ppo.py
@@ -119,6 +119,8 @@ def get_action_and_value(
 ):
     hidden_sensor = sensor_apply(params["sensor_params"], x)
     hidden_critic = feature_extractor_apply(params["feature_extractor_params"], x)
+
+    # only apply message passing in decentralized context
     if message_passer is not None:
         hidden_sensor = message_passer(params["message_passer_params"], hidden_sensor)