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clean up, fix yaw angle bounding
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hzheng40 committed Aug 6, 2024
1 parent 69e9dfe commit 50b4214
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Showing 2 changed files with 1 addition and 310 deletions.
5 changes: 1 addition & 4 deletions f1tenth_gym/envs/base_classes.py
Original file line number Diff line number Diff line change
Expand Up @@ -310,10 +310,7 @@ def update_pose(self, raw_steer, vel):
)

# bound yaw angle
if self.state[4] > 2 * np.pi:
self.state[4] = self.state[4] - 2 * np.pi
elif self.state[4] < 0:
self.state[4] = self.state[4] + 2 * np.pi
self.state[4] %= 2 * np.pi

# update scan
current_scan = RaceCar.scan_simulator.scan(
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306 changes: 0 additions & 306 deletions gym/f110_gym/envs/track.py

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