Fix tracking example to PID and quadrotor

utiasDSL · Feb 22, 2022 · 81bec94 · 81bec94
1 parent 7cb3d72
commit 81bec94
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/README.md b/README.md
@@ -89,7 +89,7 @@ Overview of [`safe-control-gym`](https://arxiv.org/abs/2109.06325)'s API:
 Familiarize with APIs and environments with the scripts in [`examples/`](https://github.com/utiasDSL/safe-control-gym/tree/main/examples)
 ```
 $ cd ./examples/                                                                    # Navigate to the examples folder
-$ python3 tracking.py --task quadrotor --algo pid --overrides ./tracking.yaml       # PID trajectory tracking with the 2D quadcopter
+$ python3 tracking.py --overrides ./tracking.yaml                                   # PID trajectory tracking with the 2D quadcopter
 $ python3 verbose_api.py --system cartpole --overrides verbose_api.yaml             #  Printout of the extended safe-control-gym APIs
 ```
 

diff --git a/examples/tracking.py b/examples/tracking.py
@@ -5,7 +5,7 @@
 
 Run as:
 
-    $ python3 tracking.py --task quadrotor --algo pid --overrides ./tracking.yaml
+    $ python3 tracking.py --overrides ./tracking.yaml
 
 """
 import time
@@ -38,10 +38,10 @@ def main():
 
         # Create controller.
         env_func = partial(make,
-                           config.task,
+                           'quadrotor',
                            **config.quadrotor_config
                            )
-        ctrl = make(config.algo,
+        ctrl = make('pid',
                     env_func,
                     )