Remove rescaling of agent coordinates

src/level_gen.cpp

@@ -75,11 +75,9 @@ static inline Entity createAgent(Engine &ctx, const MapObject &agentInit) {
     // values are retained so that on an episode reset they can be restored to
     // their initial values.
     auto &trajectory = ctx.get<Trajectory>(agent);
-    auto length = agentInit.length/2;
-    auto width = agentInit.width/2;
     for(CountT i = 0; i < agentInit.numPositions; i++)
     {
-        trajectory.positions[i] = Vector2{.x = agentInit.position[i].x - ctx.data().mean.x + length, .y = agentInit.position[i].y - ctx.data().mean.y + width};
+        trajectory.positions[i] = Vector2{.x = agentInit.position[i].x - ctx.data().mean.x, .y = agentInit.position[i].y - ctx.data().mean.y};
         trajectory.velocities[i] = Vector2{.x = agentInit.velocity[i].x, .y = agentInit.velocity[i].y};
         trajectory.headings[i] = toRadians(agentInit.heading[i]);
         trajectory.valids[i] = agentInit.valid[i];

tests/bicyclemodel.cpp

@@ -61,11 +61,8 @@ class BicycleKinematicModelTest : public ::testing::Test {
             }
             agent_length_map[n_agents] = (float)obj["length"];
             agent_width_map[n_agents] = (float)obj["width"];
-            auto length = agent_length_map[n_agents] / 2;
-            auto width = agent_width_map[n_agents] / 2;
-            auto x = float(obj["position"][0]["x"]);
-            initialState.push_back(float(obj["position"][0]["x"]) - mean.first + length);
-            initialState.push_back(float(obj["position"][0]["y"]) - mean.second + width);
+            initialState.push_back(float(obj["position"][0]["x"]) - mean.first);
+            initialState.push_back(float(obj["position"][0]["y"]) - mean.second);
             initialState.push_back(test_utils::degreesToRadians(obj["heading"][0]));
             initialState.push_back(math::Vector2{.x = obj["velocity"][0]["x"], .y = obj["velocity"][0]["y"]}.length());
             n_agents++;