unexpected collision tracking trajectory in Monza

[luigiberducci]

Describe the bug
Termination due to collision is triggered without any visible collision with the map boundaries.

To Reproduce
Steps to reproduce the behavior:

1. Run the example script waypoint_follow.py from Monza or Austin.
2. For example, make the env as follows:

env = gym.make(
        "f110_gym:f110-v0",
        config={
            "map": "Monza",
            "num_agents": 1,
            "timestep": 0.01,
            "integrator": "rk4",
            "control_input": "speed",
            "model": "st",
            "observation_config": {"type": "kinematic_state"},
            "params": {"mu": 1.0},
        },
        render_mode="human",
    )

3. Experience collision at time 1.16

Expected behavior
No collision is expected, at least looking at the rendered simulation (see screenshot).

It looks to depend on the relatively high threshold in the collision detection method.
In fact, changing the ttc_thresh from 0.005 to 0.0000005, no collision occurs.
I think @nandantumu had a similar issue in other tracks too.

However, the problem is in the proximity of walls. Many new tracks present racelines with a very small margin to the wall.
If we lose further accuracy by changing the method for collision check (e.g., occupancy map), this issue might become more severe.

Screenshots

Desktop (please complete the following information):

• OS: Ubuntu 20.04
• Python 3.8
• Branch v1.0.0