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diff --git a/gym_art/quadrotor_multi/quad_scenarios.py b/gym_art/quadrotor_multi/quad_scenarios.py
index 9f9eb59..b955f9e 100644
--- a/gym_art/quadrotor_multi/quad_scenarios.py
+++ b/gym_art/quadrotor_multi/quad_scenarios.py
@@ -4,7 +4,7 @@ import copy
from gym_art.quadrotor_multi.quad_scenarios_utils import QUADS_PARAMS_DICT, update_formation_and_max_agent_per_layer, \
update_layer_dist, get_formation_range, get_goal_by_formation, get_z_value, QUADS_MODE_LIST, \
- QUADS_MODE_LIST_OBSTACLES
+ QUADS_MODE_LIST_OBSTACLES, QUADS_MODE_LIST_SIMPLE
from gym_art.quadrotor_multi.quad_utils import generate_points, get_grid_dim_number
@@ -623,7 +623,9 @@ class Scenario_mix(QuadrotorScenario):
# Once change the parameter here, should also update QUADS_PARAMS_DICT to make sure it is same as run a single scenario
# key: quads_mode
# value: 0. formation, 1: [formation_low_size, formation_high_size], 2: episode_time
- if obst_mode == 'no_obstacles':
+ if num_agents == 1:
+ self.quads_mode_list = QUADS_MODE_LIST_SIMPLE
+ elif obst_mode == 'no_obstacles':
self.quads_mode_list = QUADS_MODE_LIST
else:
self.quads_mode_list = QUADS_MODE_LIST_OBSTACLES
diff --git a/gym_art/quadrotor_multi/quad_utils.py b/gym_art/quadrotor_multi/quad_utils.py
index d56c5d5..a8792fc 100644
--- a/gym_art/quadrotor_multi/quad_utils.py
+++ b/gym_art/quadrotor_multi/quad_utils.py
@@ -208,7 +208,7 @@ def points_in_sphere(n, x):
def generate_points(n=3):
if n < 3:
- print("The number of goals can not smaller than 3, The system has cast it to 3")
+ # print("The number of goals can not smaller than 3, The system has cast it to 3")
n = 3
return points_in_sphere(n, 0.1 + 1.2 * n)
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