def sensor_model(obs):
    """ This is the equivalent of p(z|x).

    Args:
        obs ([ndarray]): A 1D array consisting of the true observations for a specific robot pose in the map 

    Returns:
        [ndarray]: Returns a 1D array of size 18 (=loc.OBS_PER_CELL) with the likelihoods of each individual sensor measurement
    """
    prob_array = []
    
    for i in range(18):
        #create a gaussian distribuion for each meas
        gauss = loc.gaussian(loc.obs_range_data[i], obs[i], loc.sensor_sigma)
        prob_array.append(gauss)
    
    return prob_array