Fix mypy unreachable warning in IMU update

tools/sim/lib/common.py

@@ -1,13 +1,10 @@
 import math
 import multiprocessing
 import numpy as np
-
 from abc import ABC, abstractmethod
 from collections import namedtuple
 
 W, H = 1928, 1208
-
-
 vec3 = namedtuple("vec3", ["x", "y", "z"])
 
 class GPSState:
@@ -69,11 +66,9 @@ sim_state.steering_angle = 7.87
 class World(ABC):
   def __init__(self, dual_camera):
     self.dual_camera = dual_camera
-
     self.image_lock = multiprocessing.Semaphore(value=0)
     self.road_image = np.zeros((H, W, 3), dtype=np.uint8)
     self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8)
-
     self.exit_event = multiprocessing.Event()
 
   @abstractmethod
@@ -109,10 +104,8 @@ class World(ABC):
     import time
     now = time.monotonic()
     imu = simulator_state.imu
-
+    v = simulator_state.velocity if simulator_state.velocity is not None else vec3(0.0, 0.0, 0.0)
-    v = simulator_state.velocity or vec3(0.0, 0.0, 0.0)
+    bearing_rad = math.radians(simulator_state.bearing)
-    bearing_rad = math.radians(simulator_state.bearing or 0.0)
-
     prev = getattr(self, "_imu_prev", None)
     if prev is None:
         imu.accelerometer = vec3(0.0, 0.0, 0.0)
@@ -122,16 +115,13 @@ class World(ABC):
         dvx = v.x - prev["vx"]
         dvy = v.y - prev["vy"]
         dvz = v.z - prev["vz"]
-
         ax = dvx / dt
         ay = dvy / dt
         az = dvz / dt
         db = (bearing_rad - prev["bearing"] + math.pi) % (2 * math.pi) - math.pi
         yaw_rate = db / dt
-
         imu.accelerometer = vec3(ax, ay, az)
         imu.gyroscope = vec3(0.0, 0.0, yaw_rate)
-
     imu.bearing = bearing_rad
     self._imu_prev = {"t": now, "vx": v.x, "vy": v.y, "vz": v.z, "bearing": bearing_rad}