Error when run transformers

[HGGshiwo]

When I use velocity control, there occur a issue, I think the following code in the file omni_drones/utils/torchrl/transforms.py should change from:

input_spec[("_action_spec", *self.action_key)] = spec

to

input_spec[("full_action_spec", *self.action_key)] = spec

[btx0424]

Yes. Thanks for pointing that out. I will try to make a better interface for controllers shortly.