Merge pull request #35 from dfki-ric/bugfix/grid-sampler-bug

Grid Sampler Bugfix
dfki-ric · May 23, 2024 · d16ff4f · d16ff4f
2 parents 8aa2c5c + 9c695f1
commit d16ff4f
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/deformable_gym/envs/sampler.py b/deformable_gym/envs/sampler.py
@@ -94,7 +94,7 @@ def __init__(
         points_per_axis = [np.linspace(
             low[i], high[i], n_points_per_axis[i]) for i in range(self.n_dims)]
 
-        self.grid = np.array(np.meshgrid(*points_per_axis)).T.reshape(-1, 3)
+        self.grid = np.array(np.meshgrid(*points_per_axis)).T.reshape(-1, self.n_dims)
         self.n_samples = len(self.grid)
         self.n_calls = 0
 

diff --git a/tests/envs/test_samplers.py b/tests/envs/test_samplers.py
@@ -30,7 +30,7 @@ def uniform_target_pose() -> npt.NDArray:
 
 @pytest.fixture
 def grid_target_pose() -> npt.NDArray:
-    target = np.array([1, 2, 3])
+    target = np.array([1, 2, 3, 4])
     return target
 
 
@@ -60,9 +60,9 @@ def uniform_sampler() -> UniformSampler:
 @pytest.fixture
 def grid_sampler() -> GridSampler:
     return GridSampler(
-        low=np.array([1, 2, 3]),
-        high=np.array([2, 3, 4]),
-        n_points_per_axis=np.array([5, 3, 1])
+        low=np.array([1, 2, 3, 4]),
+        high=np.array([2, 3, 4, 5]),
+        n_points_per_axis=np.array([5, 3, 1, 1])
     )