Fixed OpenAI Gym sample (#5581)

* Fixed OpenAI Gym sample * Update changelog-r2023.md Co-authored-by: Stefania Pedrazzi <[email protected]>
cyberbotics · Nov 28, 2022 · 0a33a72 · 0a33a72
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diff --git a/docs/reference/changelog-r2023.md b/docs/reference/changelog-r2023.md
@@ -22,6 +22,7 @@ Released on December, 12th, 2022.
   - New Examples
     - Added a sample world showing how to compute the attitude of a robot from IMU sensors ([#5256](https://github.com/cyberbotics/webots/pull/5256)).
   - Bug Fixes
+    - Fixed the OpenAI Gym example which was not converging after ENU/FLU conversion ([#5581](https://github.com/cyberbotics/webots/pull/5581)).
     - Fixed wrong warnings due to SFNode empty flag in the controller ([#5430](https://github.com/cyberbotics/webots/pull/5430)).
     - Fixed controller restart after crash ([#5284](https://github.com/cyberbotics/webots/pull/5284)).
     - Fixed the export of [Lidar](lidar.md)'s rotating head to X3D ([#5224](https://github.com/cyberbotics/webots/pull/5224)).

diff --git a/projects/samples/howto/openai_gym/controllers/openai_gym/openai_gym.py b/projects/samples/howto/openai_gym/controllers/openai_gym/openai_gym.py
@@ -94,8 +94,8 @@ def step(self, action):
         # Observation
         robot = self.getSelf()
         endpoint = self.getFromDef("POLE_ENDPOINT")
-        self.state = np.array([robot.getPosition()[2], robot.getVelocity()[2],
-                               self.__pendulum_sensor.getValue(), endpoint.getVelocity()[3]])
+        self.state = np.array([robot.getPosition()[0], robot.getVelocity()[0],
+                               self.__pendulum_sensor.getValue(), endpoint.getVelocity()[4]])
 
         # Done
         done = bool(