From 75a097c46448f618a89828240d58183a2638ae3a Mon Sep 17 00:00:00 2001
From: FAN YUCHEN <2994114386@qq.com>
Date: Thu, 9 Jul 2026 23:27:22 +0800
Subject: [PATCH] Fix compass observation floating point bounds (#579)

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 #579
---
 habitat-lab/habitat/tasks/nav/nav.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/habitat-lab/habitat/tasks/nav/nav.py b/habitat-lab/habitat/tasks/nav/nav.py
index edf759f0a3..5b9b18deba 100644
--- a/habitat-lab/habitat/tasks/nav/nav.py
+++ b/habitat-lab/habitat/tasks/nav/nav.py
@@ -356,6 +356,7 @@ def _quat_to_xy_heading(self, quat):
         heading_vector = quaternion_rotate_vector(quat, direction_vector)
 
         phi = cartesian_to_polar(-heading_vector[2], heading_vector[0])[1]
+        phi = np.clip(phi, -np.pi, np.pi)
         return np.array([phi], dtype=np.float32)
 
     def get_observation(