Cartpole STL Spec

[HornetGuppy]

Hi @anand-bala, I have been playing around with STL specs in cartpole example from this repo, however I could not reproduce the results shown in paper (https://jdeshmukh.github.io/Papers/iros19.pdf). The issue seems to be with spec definition in \bin\safe_rl\specs : stl.G(stl.F(x_dot< abs(0.01)) & (abs(theta) < 5) & (abs(x) < 0.5) & stl.F(abs(theta) < 1)). Isn't theta in radians?

FYI i have used stl.G(stl.F(abs(x_dot) < 0.01) & (abs(theta) < np.radians(2)) & (abs(x) < 0.5)) and alternatively stl.G(stl.F((abs(x_dot) < 0.01) & (abs(theta) < np.radians(12)) & (abs(x) < 0.5))) - based on textual definition in paper but also standard cart pole spec: stl.G(stl.F(abs(x_dot) < 0.01) & (abs(theta) < np.radians(12)) & (abs(x) < 2.4))

Am I missing something??
Cheers for the interesting work,