From 0c7d412d410d35a66b5fd3890f3ec853ca206259 Mon Sep 17 00:00:00 2001 From: Ahmad Amine Date: Wed, 9 Oct 2024 15:54:54 -0400 Subject: [PATCH] Change the switch speed for ST to 0.5 --- f1tenth_gym/envs/dynamic_models/single_track.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/f1tenth_gym/envs/dynamic_models/single_track.py b/f1tenth_gym/envs/dynamic_models/single_track.py index 522a57be..7a1e3516 100644 --- 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)