Merge pull request #190 from ana-lys/main

Update drag function BaseAviary.py
utiasDSL · Feb 10, 2024 · 00ca90a · 00ca90a
2 parents ec807dd + 328c3d3
commit 00ca90a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/gym_pybullet_drones/envs/BaseAviary.py b/gym_pybullet_drones/envs/BaseAviary.py
@@ -773,7 +773,7 @@ def _drag(self,
         base_rot = np.array(p.getMatrixFromQuaternion(self.quat[nth_drone, :])).reshape(3, 3)
         #### Simple draft model applied to the base/center of mass #
         drag_factors = -1 * self.DRAG_COEFF * np.sum(np.array(2*np.pi*rpm/60))
-        drag = np.dot(base_rot, drag_factors*np.array(self.vel[nth_drone, :]))
+        drag = np.dot(base_rot.T, drag_factors*np.array(self.vel[nth_drone, :]))
         p.applyExternalForce(self.DRONE_IDS[nth_drone],
                              4,
                              forceObj=drag,