bugfix: in waypoint_follow.py, remove poses in reset options to avoid…

… overriding reset_config. add annotation in actions for older versions of python
f1tenth · Dec 29, 2023 · 50e84d3 · 50e84d3
1 parent 0f3b630
commit 50e84d3
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diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
@@ -318,20 +318,11 @@ def main():
 
     planner = PurePursuitPlanner(track=track, wb=0.17145 + 0.15875)
 
-    poses = np.array(
-        [
-            [
-                track.raceline.xs[0],
-                track.raceline.ys[0],
-                track.raceline.yaws[0],
-            ]
-        ]
-    )
     env.unwrapped.add_render_callback(planner.render_waypoints)
     env.unwrapped.add_render_callback(planner.render_local_plan)
     env.unwrapped.add_render_callback(planner.render_lookahead_point)
 
-    obs, info = env.reset(options={"poses": poses})
+    obs, info = env.reset()
     done = False
     env.render()
 

diff --git a/gym/f110_gym/envs/action.py b/gym/f110_gym/envs/action.py
@@ -1,3 +1,4 @@
+from __future__ import annotations
 from abc import abstractmethod
 from enum import Enum
 from typing import Any, Dict, Tuple