Fix compass observation floating point bounds (#579) - #2233
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np.clip the heading value from _quat_to_xy_heading to [-pi, pi] to prevent floating point errors from producing values slightly outside the declared observation space bounds. Fixes facebookresearch#579
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Fixes #579
The compass sensor's observation space declares an upper bound of pi (3.141592653589793), but the sensor can return slightly higher values due to floating point error when converting the arctan2 result to float32. This commit adds np.clip() in _quat_to_xy_heading() to keep the heading value within the declared bounds of [-pi, pi].
Fixed by: np.clip(phi, -np.pi, np.pi) before creating the output array.