From b805a19ddd0dfcf7fd5037e963ae61af5438a321 Mon Sep 17 00:00:00 2001 From: spencerfolk Date: Wed, 27 Dec 2023 16:29:19 -0500 Subject: [PATCH] Fixed error in action space for cmd_vel --- rotorpy/learning/quadrotor_environments.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rotorpy/learning/quadrotor_environments.py b/rotorpy/learning/quadrotor_environments.py index 9ed915b..8cfa63c 100644 --- a/rotorpy/learning/quadrotor_environments.py +++ b/rotorpy/learning/quadrotor_environments.py @@ -96,7 +96,7 @@ class QuadrotorEnv(gym.Env): # For generalizability, we assume the controller outputs 4 numbers between -1 and 1. Depending on the control mode, we scale these appropriately. if self.control_mode == 'cmd_vel': - self.action_space = spaces.Box(low = -1, high = -1, shape = (4,), dtype=np.float32) + self.action_space = spaces.Box(low = -1, high = 1, shape = (3,), dtype=np.float32) else: self.action_space = spaces.Box(low = -1, high = 1, shape = (4,), dtype=np.float32)