Change the switch speed for ST to 0.5

f1tenth · Oct 9, 2024 · 0c7d412 · 0c7d412
1 parent 4c65a68
commit 0c7d412
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/f1tenth_gym/envs/dynamic_models/single_track.py b/f1tenth_gym/envs/dynamic_models/single_track.py
@@ -83,7 +83,7 @@ def vehicle_dynamics_st(x: np.ndarray, u_init: np.ndarray, params: dict):
     ACCL = u[1]
 
     # switch to kinematic model for small velocities
-    if V < 0.1:
+    if V < 0.5:
         # wheelbase
         lwb = params["lf"] + params["lr"]
         BETA_HAT = np.arctan(np.tan(DELTA) * params["lr"] / lwb)