Merge pull request #137 from f1tenth/fix_diverge_dir

clean up, fix yaw angle bounding
f1tenth · Aug 6, 2024 · d765794 · d765794
2 parents 69e9dfe + 50b4214
commit d765794
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diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
@@ -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(

diff --git a/gym/f110_gym/envs/track.py b/gym/f110_gym/envs/track.py