Silence warnings

utiasDSL · May 24, 2024 · 2269115 · 2269115
1 parent 6510591
commit 2269115
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Showing 2 changed files with 9 additions and 7 deletions.
diff --git a/safe_control_gym/envs/gym_pybullet_drones/quadrotor.py b/safe_control_gym/envs/gym_pybullet_drones/quadrotor.py
@@ -771,9 +771,7 @@ def _set_action_space(self):
         if self.NORMALIZED_RL_ACTION_SPACE:
             # Normalized thrust (around hover thrust).
             self.hover_thrust = self.GRAVITY_ACC * self.MASS / action_dim
-            self.action_space = spaces.Box(
-                low=-np.ones(action_dim), high=np.ones(action_dim), dtype=np.float32
-            )
+            self.action_space = spaces.Box(low=-1, high=1, shape=(action_dim,), dtype=np.float32)
         else:
             # Direct thrust control.
             n_motors = 4 / action_dim
@@ -851,7 +849,8 @@ def _set_observation_space(self):
                     -np.finfo(np.float32).max,
                     -np.finfo(np.float32).max,
                     -np.finfo(np.float32).max,
-                ]
+                ],
+                np.float32,
             )
             high = np.array(
                 [
@@ -867,7 +866,8 @@ def _set_observation_space(self):
                     np.finfo(np.float32).max,
                     np.finfo(np.float32).max,
                     np.finfo(np.float32).max,
-                ]
+                ],
+                np.float32,
             )
             self.STATE_LABELS = [
                 "x",

diff --git a/safe_control_gym/math_and_models/symbolic_systems.py b/safe_control_gym/math_and_models/symbolic_systems.py
@@ -61,7 +61,8 @@ def setup_model(self):
             "fd",
             self.integration_algo,
             {"x": self.x_sym, "p": self.u_sym, "ode": self.x_dot},
-            {"tf": self.dt},
+            0,
+            self.dt,
         )
         # Observation model.
         self.g_func = cs.Function("g", [self.x_sym, self.u_sym], [self.y_sym], ["x", "u"], ["g"])
@@ -103,7 +104,8 @@ def setup_linearization(self):
                 "p": cs.vertcat(self.u_eval, self.x_sym, self.u_sym),
                 "ode": self.x_dot_linear,
             },
-            {"tf": self.dt},
+            0,
+            self.dt,
         )
         # Linearized observation model.
         self.y_linear = (