Fix figure 8 reward shape

amacati · amacati · commit 40412ce2fdcf · 2025-08-17T22:14:01.000+02:00
diff --git a/crazyflow/envs/figure_8_env.py b/crazyflow/envs/figure_8_env.py
@@ -92,7 +92,7 @@ def obs(self) -> dict[str, Array]:
 
     def reward(self) -> Array:
         return self._reward(
-            self.terminated(), self.sim.data.states.pos, self.trajectory[self.steps]
+            self.terminated(), self.sim.data.states.pos, self.trajectory[self.steps.squeeze()]
         )
 
     @property

Original file line number	Diff line number	Diff line change
`@@ -92,7 +92,7 @@ def obs(self) -> dict[str, Array]:`
`92`	`92`
`93`	`93`	`def reward(self) -> Array:`
`94`	`94`	`return self._reward(`
`95`		`- self.terminated(), self.sim.data.states.pos, self.trajectory[self.steps]`
	`95`	`+ self.terminated(), self.sim.data.states.pos, self.trajectory[self.steps.squeeze()]`
`96`	`96`	`)`
`97`	`97`
`98`	`98`	`@property`