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Fixed error in action space for cmd_vel

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spencerfolk
2023-12-27 16:29:19 -05:00
parent 58489e9340
commit b805a19ddd
1 changed files with 1 additions and 1 deletions
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rotorpy/learning/quadrotor_environments.py
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@@ -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)