From e11dc06fb58492c2724822c277366b5011a31fb0 Mon Sep 17 00:00:00 2001 From: zzangupenn Date: Fri, 6 Jun 2025 02:26:45 -0400 Subject: [PATCH 01/54] todo list --- README.md | 56 +++---------------- .../envs/dynamic_models/single_track.py | 2 +- 2 files changed, 10 insertions(+), 48 deletions(-) diff --git a/README.md b/README.md index deafba72..5883a806 100644 --- a/README.md +++ b/README.md @@ -1,14 +1,13 @@ -![Python 3.8 3.9](https://github.com/f1tenth/f1tenth_gym/actions/workflows/ci.yml/badge.svg) -![Docker](https://github.com/f1tenth/f1tenth_gym/actions/workflows/docker.yml/badge.svg) -![Code Style](https://github.com/f1tenth/f1tenth_gym/actions/workflows/lint.yml/badge.svg) - # The F1TENTH Gym environment -This is the repository of the F1TENTH Gym environment. - -This project is still under heavy developement. - -You can find the [documentation](https://f1tenth-gym.readthedocs.io/en/latest/) of the environment here. +Zirui branch TODO list: +- [ ] verify collision +- [ ] scan toggle +- [ ] separate time step and integrater time step +- [ ] add frenet +- [ ] use correct loop count +- [ ] simplify observation +- [ ] simplify reset ## Quickstart We recommend installing the simulation inside a virtualenv. You can install the environment by running: @@ -25,41 +24,4 @@ Then you can run a quick waypoint follow example by: ```bash cd examples python3 waypoint_follow.py -``` - -A Dockerfile is also provided with support for the GUI with nvidia-docker (nvidia GPU required): -```bash -docker build -t f1tenth_gym_container -f Dockerfile . -docker run --gpus all -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix f1tenth_gym_container -```` -Then the same example can be ran. - -## Known issues -- Library support issues on Windows. You must use Python 3.8 as of 10-2021 -- On MacOS Big Sur and above, when rendering is turned on, you might encounter the error: -``` -ImportError: Can't find framework /System/Library/Frameworks/OpenGL.framework. -``` -You can fix the error by installing a newer version of pyglet: -```bash -$ pip3 install pyglet==1.5.11 -``` -And you might see an error similar to -``` -gym 0.17.3 requires pyglet<=1.5.0,>=1.4.0, but you'll have pyglet 1.5.11 which is incompatible. -``` -which could be ignored. The environment should still work without error. - -## Citing -If you find this Gym environment useful, please consider citing: - -``` -@inproceedings{okelly2020f1tenth, - title={F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning}, - author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul}, - booktitle={NeurIPS 2019 Competition and Demonstration Track}, - pages={77--89}, - year={2020}, - organization={PMLR} -} -``` +``` \ No newline at end of file diff --git a/f1tenth_gym/envs/dynamic_models/single_track.py b/f1tenth_gym/envs/dynamic_models/single_track.py index 7a1e3516..eea349f1 100644 --- a/f1tenth_gym/envs/dynamic_models/single_track.py +++ b/f1tenth_gym/envs/dynamic_models/single_track.py @@ -16,7 +16,7 @@ def vehicle_dynamics_st(x: np.ndarray, u_init: np.ndarray, params: dict): x1: y position in global coordinates x2: steering angle of front wheels x3: velocity in x direction - x4:yaw angle + x4: yaw angle x5: yaw rate x6: slip angle at vehicle center u (numpy.ndarray (2, )): control input vector (u1, u2) From 3cb8746024b69add2a80f4df7e79772f83666783 Mon Sep 17 00:00:00 2001 From: zzangupenn Date: Fri, 6 Jun 2025 03:03:00 -0400 Subject: [PATCH 02/54] todo list --- README.md | 2 ++ f1tenth_gym/envs/f110_env.py | 1 + 2 files changed, 3 insertions(+) diff --git a/README.md b/README.md index 5883a806..ed8b6e35 100644 --- a/README.md +++ b/README.md @@ -3,11 +3,13 @@ Zirui branch TODO list: - [ ] verify collision - [ ] scan toggle +- [ ] scan plot - [ ] separate time step and integrater time step - [ ] add frenet - [ ] use correct loop count - [ ] simplify observation - [ ] simplify reset +- [ ] control_buffer_size ## Quickstart We recommend installing the simulation inside a virtualenv. You can install the environment by running: diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py index f18c5636..35cbb960 100644 --- a/f1tenth_gym/envs/f110_env.py +++ b/f1tenth_gym/envs/f110_env.py @@ -392,6 +392,7 @@ def default_config(cls) -> dict: "params": cls.f1tenth_vehicle_params(), "num_agents": 2, "timestep": 0.01, + "integrator_timestep": 0.01, "ego_idx": 0, "integrator": "rk4", "model": "st", From 0c4f534bb9afe7c8eccb2d00ae4d127fa3e2023e Mon Sep 17 00:00:00 2001 From: zzangupenn Date: Sat, 7 Jun 2025 17:14:51 -0400 Subject: [PATCH 03/54] clip lidar scan, add renderer toggle, remove dict in dynamics functions and std_state, simplified std_state and obs --- README.md | 6 +- examples/waypoint_follow.py | 20 +- f1tenth_gym/envs/base_classes.py | 40 +- f1tenth_gym/envs/dynamic_models/__init__.py | 10 +- f1tenth_gym/envs/dynamic_models/kinematic.py | 399 +++-- .../dynamic_models/multi_body/multi_body.py | 1568 +++++++++++------ .../dynamic_models/multi_body/tire_model.py | 168 +- .../multi_body/tire_model_new.py | 184 ++ .../envs/dynamic_models/single_track.py | 350 ++-- f1tenth_gym/envs/f110_env.py | 62 +- f1tenth_gym/envs/integrator.py | 18 +- f1tenth_gym/envs/laser_models.py | 10 +- f1tenth_gym/envs/observation.py | 67 +- 13 files changed, 1860 insertions(+), 1042 deletions(-) create mode 100644 f1tenth_gym/envs/dynamic_models/multi_body/tire_model_new.py diff --git a/README.md b/README.md index ed8b6e35..120a9258 100644 --- a/README.md +++ b/README.md @@ -1,13 +1,15 @@ # The F1TENTH Gym environment Zirui branch TODO list: +- [x] clip lidar after adding noise, put lidar noise in config +- [x] remove unnecessary use of dictionary. model st is 50% faster, mb is 150% faster. +- [x] toggle renderer - [ ] verify collision - [ ] scan toggle -- [ ] scan plot - [ ] separate time step and integrater time step - [ ] add frenet - [ ] use correct loop count -- [ ] simplify observation +- [x] simplify std_state observation - [ ] simplify reset - [ ] control_buffer_size diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py index 893af2f0..b69b3ceb 100644 --- a/examples/waypoint_follow.py +++ b/examples/waypoint_follow.py @@ -314,11 +314,13 @@ def main(): "timestep": 0.01, "integrator": "rk4", "control_input": ["speed", "steering_angle"], - "model": "mb", - "observation_config": {"type": "kinematic_state"}, + "model": "mb", # "ks", "st", "mb" + "observation_config": {"type": "dynamic_state"}, + # "params": F110Env.f1tenth_vehicle_params(), "params": F110Env.fullscale_vehicle_params(), "reset_config": {"type": "rl_random_static"}, "scale": 10.0, + "enable_rendering": 0, }, render_mode="human", ) @@ -327,6 +329,8 @@ def main(): planner = PurePursuitPlanner( track=track, wb=( + # F110Env.f1tenth_vehicle_params()["lf"] + # + F110Env.f1tenth_vehicle_params()["lr"] F110Env.fullscale_vehicle_params()["lf"] + F110Env.fullscale_vehicle_params()["lr"] ), @@ -342,19 +346,25 @@ def main(): laptime = 0.0 start = time.time() + times = [] while not done: action = env.action_space.sample() for i, agent_id in enumerate(obs.keys()): speed, steer = planner.plan( - obs[agent_id]["pose_x"], - obs[agent_id]["pose_y"], - obs[agent_id]["pose_theta"], + obs[agent_id]["std_state"][0], + obs[agent_id]["std_state"][1], + obs[agent_id]["std_state"][4], work["tlad"], work["vgain"], ) action[i] = np.array([steer, speed]) + t1 = time.time() obs, step_reward, done, truncated, info = env.step(action) + times.append(1/(time.time() - t1)) + if len(times) > 10000: + print("FPS:", np.mean(times)) + times = [] laptime += step_reward frame = env.render() diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py index 4bfe5c82..8ca4e4c8 100644 --- a/f1tenth_gym/envs/base_classes.py +++ b/f1tenth_gym/envs/base_classes.py @@ -102,6 +102,11 @@ def __init__( self.integrator = integrator self.action_type = action_type self.model = model + if self.model == DynamicModel.MB: + from .dynamic_models.multi_body.multi_body import sequential_param_keys + self.sequential_param_keys = sequential_param_keys + else: + self.sequential_param_keys = None self.standard_state_fn = self.model.get_standardized_state_fn() # state of the vehicle @@ -308,9 +313,31 @@ def update_pose(self, raw_steer, vel): u_np = np.array([sv, accl]) f_dynamics = self.model.f_dynamics - self.state = self.integrator.integrate( - f=f_dynamics, x=self.state, u=u_np, dt=self.time_step, params=self.params - ) + if self.model == DynamicModel.MB: + self.state = self.integrator.integrate( + f_dynamics, self.state, u_np, self.time_step, [self.params[key] for key in self.sequential_param_keys] + ) + else: + self.state = self.integrator.integrate( + f_dynamics, self.state, u_np, self.time_step, *[self.params['mu'], + self.params['C_Sf'], + self.params['C_Sr'], + self.params['lf'], + self.params['lr'], + self.params['h'], + self.params['m'], + self.params['I'], + self.params['s_min'], + self.params['s_max'], + self.params['sv_min'], + self.params['sv_max'], + self.params['v_switch'], + self.params['a_max'], + self.params['v_min'], + self.params['v_max'], + self.params['width'], + self.params['length']] + ) # bound yaw angle self.state[4] %= 2 * np.pi # TODO: This is a problem waiting to happen @@ -358,14 +385,17 @@ def update_scan(self, agent_scans, agent_index): agent_scans[agent_index] = new_scan @property - def standard_state(self) -> dict: + def standard_state(self) -> np.ndarray: """ Returns the state of the vehicle as an observation Returns: np.ndarray (7, ): state of the vehicle """ - return self.standard_state_fn(self.state) + # t1 = time.time() + standard_state = self.standard_state_fn(self.state) + # print(time.time() - t1) + return standard_state class Simulator(object): diff --git a/f1tenth_gym/envs/dynamic_models/__init__.py b/f1tenth_gym/envs/dynamic_models/__init__.py index bc011941..1d7f262e 100644 --- a/f1tenth_gym/envs/dynamic_models/__init__.py +++ b/f1tenth_gym/envs/dynamic_models/__init__.py @@ -39,15 +39,19 @@ def get_initial_state(self, pose=None, params: Optional[dict] = None): # initialize zero state if self == DynamicModel.KS: # state is [x, y, steer_angle, vel, yaw_angle] - state = np.zeros(5) + self.state_dim = 5 + self.control_dim = 2 elif self == DynamicModel.ST: # state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle] - state = np.zeros(7) + self.state_dim = 7 + self.control_dim = 2 elif self == DynamicModel.MB: # state is a 29D vector - state = np.zeros(29) + self.state_dim = 29 + self.control_dim = 2 else: raise ValueError(f"Unknown model type {self}") + state = np.zeros(self.state_dim) # set initial pose if provided if pose is not None: diff --git a/f1tenth_gym/envs/dynamic_models/kinematic.py b/f1tenth_gym/envs/dynamic_models/kinematic.py index cdd6a468..85d45789 100644 --- a/f1tenth_gym/envs/dynamic_models/kinematic.py +++ b/f1tenth_gym/envs/dynamic_models/kinematic.py @@ -1,189 +1,284 @@ import numpy as np from numba import njit -from numba.typed import Dict from .utils import steering_constraint, accl_constraints -def vehicle_dynamics_ks(x: np.ndarray, u_init: np.ndarray, params: dict): - """ - Single Track Kinematic Vehicle Dynamics. - Follows https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 5 - - Args: - x (numpy.ndarray (5, )): vehicle state vector (x0, x1, x2, x3, x4) - x0: x position in global coordinates - x1: y position in global coordinates - x2: steering angle of front wheels - x3: velocity in x direction - x4: yaw angle - u (numpy.ndarray (2, )): control input vector (u1, u2) - u1: steering angle velocity of front wheels - u2: longitudinal acceleration - params (dict): dictionary containing the following parameters: - mu (float): friction coefficient - C_Sf (float): cornering stiffness of front wheels - C_Sr (float): cornering stiffness of rear wheels - lf (float): distance from center of gravity to front axle - lr (float): distance from center of gravity to rear axle - h (float): height of center of gravity - m (float): mass of vehicle - I (float): moment of inertia of vehicle, about Z axis - s_min (float): minimum steering angle - s_max (float): maximum steering angle - sv_min (float): minimum steering velocity - sv_max (float): maximum steering velocity - v_switch (float): velocity above which the acceleration is no longer able to create wheel slip - a_max (float): maximum allowed acceleration - v_min (float): minimum allowed velocity - v_max (float): maximum allowed velocity - - Returns: - f (numpy.ndarray): right hand side of differential equations - """ +# def vehicle_dynamics_ks(x: np.ndarray, u_init: np.ndarray, params: dict): +# """ +# Single Track Kinematic Vehicle Dynamics. +# Follows https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 5 + +# Args: +# x (numpy.ndarray (5, )): vehicle state vector (x0, x1, x2, x3, x4) +# x0: x position in global coordinates +# x1: y position in global coordinates +# x2: steering angle of front wheels +# x3: velocity in x direction +# x4: yaw angle +# u (numpy.ndarray (2, )): control input vector (u1, u2) +# u1: steering angle velocity of front wheels +# u2: longitudinal acceleration +# params (dict): dictionary containing the following parameters: +# mu (float): friction coefficient +# C_Sf (float): cornering stiffness of front wheels +# C_Sr (float): cornering stiffness of rear wheels +# lf (float): distance from center of gravity to front axle +# lr (float): distance from center of gravity to rear axle +# h (float): height of center of gravity +# m (float): mass of vehicle +# I (float): moment of inertia of vehicle, about Z axis +# s_min (float): minimum steering angle +# s_max (float): maximum steering angle +# sv_min (float): minimum steering velocity +# sv_max (float): maximum steering velocity +# v_switch (float): velocity above which the acceleration is no longer able to create wheel slip +# a_max (float): maximum allowed acceleration +# v_min (float): minimum allowed velocity +# v_max (float): maximum allowed velocity + +# Returns: +# f (numpy.ndarray): right hand side of differential equations +# """ +# # Controls +# X = x[0] +# Y = x[1] +# DELTA = x[2] +# V = x[3] +# PSI = x[4] +# # Raw Actions +# RAW_STEER_VEL = u_init[0] +# RAW_ACCL = u_init[1] +# # wheelbase +# lwb = params["lf"] + params["lr"] + +# # constraints +# u = np.array( +# [ +# steering_constraint( +# DELTA, +# RAW_STEER_VEL, +# params["s_min"], +# params["s_max"], +# params["sv_min"], +# params["sv_max"], +# ), +# accl_constraints( +# V, +# RAW_ACCL, +# params["v_switch"], +# params["a_max"], +# params["v_min"], +# params["v_max"], +# ), +# ] +# ) +# # Corrected Actions +# STEER_VEL = u[0] +# ACCL = u[1] + +# # system dynamics +# f = np.array( +# [ +# V * np.cos(PSI), # X_DOT +# V * np.sin(PSI), # Y_DOT +# STEER_VEL, # DELTA_DOT +# ACCL, # V_DOT +# (V / lwb) * np.tan(DELTA), # PSI_DOT +# ] +# ) +# return f + + +# def vehicle_dynamics_ks_cog(x: np.ndarray, u_init: np.ndarray, params: dict): +# """ +# Single Track Kinematic Vehicle Dynamics. +# Follows https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 5 + +# Args: +# x (numpy.ndarray (5, )): vehicle state vector (x0, x1, x2, x3, x4) +# x0: x position in global coordinates +# x1: y position in global coordinates +# x2: steering angle of front wheels +# x3: velocity in x direction +# x4: yaw angle +# u (numpy.ndarray (2, )): control input vector (u1, u2) +# u1: steering angle velocity of front wheels +# u2: longitudinal acceleration +# params (dict): dictionary containing the following parameters: +# mu (float): friction coefficient +# C_Sf (float): cornering stiffness of front wheels +# C_Sr (float): cornering stiffness of rear wheels +# lf (float): distance from center of gravity to front axle +# lr (float): distance from center of gravity to rear axle +# h (float): height of center of gravity +# m (float): mass of vehicle +# I (float): moment of inertia of vehicle, about Z axis +# s_min (float): minimum steering angle +# s_max (float): maximum steering angle +# sv_min (float): minimum steering velocity +# sv_max (float): maximum steering velocity +# v_switch (float): velocity above which the acceleration is no longer able to create wheel slip +# a_max (float): maximum allowed acceleration +# v_min (float): minimum allowed velocity +# v_max (float): maximum allowed velocity + +# Returns: +# f (numpy.ndarray): right hand side of differential equations +# """ +# # Controls +# X = x[0] +# Y = x[1] +# DELTA = x[2] +# V = x[3] +# PSI = x[4] +# # Raw Actions +# RAW_STEER_VEL = u_init[0] +# RAW_ACCL = u_init[1] +# # wheelbase +# lwb = params["lf"] + params["lr"] +# # constraints +# u = np.array( +# [ +# steering_constraint( +# DELTA, +# RAW_STEER_VEL, +# params["s_min"], +# params["s_max"], +# params["sv_min"], +# params["sv_max"], +# ), +# accl_constraints( +# V, +# RAW_ACCL, +# params["v_switch"], +# params["a_max"], +# params["v_min"], +# params["v_max"], +# ), +# ] +# ) +# # slip angle (beta) from vehicle kinematics +# beta = np.arctan(np.tan(x[2]) * params["lr"] / lwb) + +# # system dynamics +# f = [ +# V * np.cos(beta + PSI), +# V * np.sin(beta + PSI), +# u[0], +# u[1], +# V * np.cos(beta) * np.tan(DELTA) / lwb, +# ] + +# return f + +@njit(cache=True) +def vehicle_dynamics_ks( + x: np.ndarray, + u_init: np.ndarray, + mu: float, + C_Sf: float, + C_Sr: float, + lf: float, + lr: float, + h: float, + m: float, + I: float, + s_min: float, + s_max: float, + sv_min: float, + sv_max: float, + v_switch: float, + a_max: float, + v_min: float, + v_max: float, + width: float, + length: float +) -> np.ndarray: # Controls X = x[0] Y = x[1] DELTA = x[2] V = x[3] PSI = x[4] - # Raw Actions + RAW_STEER_VEL = u_init[0] RAW_ACCL = u_init[1] - # wheelbase - lwb = params["lf"] + params["lr"] - - # constraints - u = np.array( - [ - steering_constraint( - DELTA, - RAW_STEER_VEL, - params["s_min"], - params["s_max"], - params["sv_min"], - params["sv_max"], - ), - accl_constraints( - V, - RAW_ACCL, - params["v_switch"], - params["a_max"], - params["v_min"], - params["v_max"], - ), - ] - ) - # Corrected Actions + + lwb = lf + lr + + u = [ + steering_constraint(DELTA, RAW_STEER_VEL, s_min, s_max, sv_min, sv_max), + accl_constraints(V, RAW_ACCL, v_switch, a_max, v_min, v_max) + ] + STEER_VEL = u[0] ACCL = u[1] - # system dynamics - f = np.array( - [ - V * np.cos(PSI), # X_DOT - V * np.sin(PSI), # Y_DOT - STEER_VEL, # DELTA_DOT - ACCL, # V_DOT - (V / lwb) * np.tan(DELTA), # PSI_DOT - ] - ) + f = np.asarray([ + V * np.cos(PSI), + V * np.sin(PSI), + STEER_VEL, + ACCL, + (V / lwb) * np.tan(DELTA), + ]) + return f - -def vehicle_dynamics_ks_cog(x: np.ndarray, u_init: np.ndarray, params: dict): - """ - Single Track Kinematic Vehicle Dynamics. - Follows https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 5 - - Args: - x (numpy.ndarray (5, )): vehicle state vector (x0, x1, x2, x3, x4) - x0: x position in global coordinates - x1: y position in global coordinates - x2: steering angle of front wheels - x3: velocity in x direction - x4: yaw angle - u (numpy.ndarray (2, )): control input vector (u1, u2) - u1: steering angle velocity of front wheels - u2: longitudinal acceleration - params (dict): dictionary containing the following parameters: - mu (float): friction coefficient - C_Sf (float): cornering stiffness of front wheels - C_Sr (float): cornering stiffness of rear wheels - lf (float): distance from center of gravity to front axle - lr (float): distance from center of gravity to rear axle - h (float): height of center of gravity - m (float): mass of vehicle - I (float): moment of inertia of vehicle, about Z axis - s_min (float): minimum steering angle - s_max (float): maximum steering angle - sv_min (float): minimum steering velocity - sv_max (float): maximum steering velocity - v_switch (float): velocity above which the acceleration is no longer able to create wheel slip - a_max (float): maximum allowed acceleration - v_min (float): minimum allowed velocity - v_max (float): maximum allowed velocity - - Returns: - f (numpy.ndarray): right hand side of differential equations - """ +@njit(cache=True) +def vehicle_dynamics_ks_cog( + x: np.ndarray, + u_init: np.ndarray, + mu: float, + C_Sf: float, + C_Sr: float, + lf: float, + lr: float, + h: float, + m: float, + I: float, + s_min: float, + s_max: float, + sv_min: float, + sv_max: float, + v_switch: float, + a_max: float, + v_min: float, + v_max: float, + width: float, + length: float +) -> np.ndarray: # Controls X = x[0] Y = x[1] DELTA = x[2] V = x[3] PSI = x[4] - # Raw Actions + RAW_STEER_VEL = u_init[0] RAW_ACCL = u_init[1] - # wheelbase - lwb = params["lf"] + params["lr"] - # constraints - u = np.array( - [ - steering_constraint( - DELTA, - RAW_STEER_VEL, - params["s_min"], - params["s_max"], - params["sv_min"], - params["sv_max"], - ), - accl_constraints( - V, - RAW_ACCL, - params["v_switch"], - params["a_max"], - params["v_min"], - params["v_max"], - ), - ] - ) - # slip angle (beta) from vehicle kinematics - beta = np.arctan(np.tan(x[2]) * params["lr"] / lwb) - - # system dynamics - f = [ + + lwb = lf + lr + + u = [ + steering_constraint(DELTA, RAW_STEER_VEL, s_min, s_max, sv_min, sv_max), + accl_constraints(V, RAW_ACCL, v_switch, a_max, v_min, v_max) + ] + + beta = np.arctan(np.tan(DELTA) * lr / lwb) + + f = np.asarray([ V * np.cos(beta + PSI), V * np.sin(beta + PSI), u[0], u[1], V * np.cos(beta) * np.tan(DELTA) / lwb, - ] + ]) return f @njit(cache=True) -def get_standardized_state_ks(x: np.ndarray) -> dict: - """[X,Y,DELTA,V_X, V_Y,YAW,YAW_RATE,SLIP]""" - d = dict() - d["x"] = x[0] - d["y"] = x[1] - d["delta"] = x[2] - d["v_x"] = x[3] - d["v_y"] = 0.0 - d["yaw"] = x[4] - d["yaw_rate"] = x[5] - d["slip"] = 0.0 - return d +def get_standardized_state_ks(x: np.ndarray) -> np.ndarray: + """[X,Y,Steering_Angle,Speed,YAW,YAW_RATE,V_Y]""" + return np.asarray([x[0], x[1], x[2], x[3], x[4], 0.0, 0.0, 0.0]) diff --git a/f1tenth_gym/envs/dynamic_models/multi_body/multi_body.py b/f1tenth_gym/envs/dynamic_models/multi_body/multi_body.py index bcdafdaf..a4ef6c8f 100644 --- a/f1tenth_gym/envs/dynamic_models/multi_body/multi_body.py +++ b/f1tenth_gym/envs/dynamic_models/multi_body/multi_body.py @@ -13,9 +13,708 @@ from ..kinematic import vehicle_dynamics_ks_cog -def vehicle_dynamics_mb(x: np.ndarray, u_init: np.ndarray, params: dict): +# def vehicle_dynamics_mb_new(x: np.ndarray, u_init: np.ndarray, params: dict): +# """ +# vehicleDynamics_mb - multi-body vehicle dynamics based on the DoT (department of transportation) vehicle dynamics +# reference point: center of mass + +# Syntax: +# f = vehicleDynamics_mb(x,u,p) + +# Inputs: +# :param x: vehicle state vector +# :param uInit: vehicle input vector +# :param params: vehicle parameter vector + +# Outputs: +# :return f: right-hand side of differential equations +# """ + +# # ------------- BEGIN CODE -------------- + +# # set gravity constant +# g = 9.81 # [m/s^2] + +# # states +# # x0 = x-position in a global coordinate system +# # x1 = y-position in a global coordinate system +# # x2 = steering angle of front wheels +# # x3 = velocity in x-direction +# # x4 = yaw angle +# # x5 = yaw rate + +# # x6 = roll angle +# # x7 = roll rate +# # x8 = pitch angle +# # x9 = pitch rate +# # x10 = velocity in y-direction +# # x11 = z-position +# # x12 = velocity in z-direction + +# # x13 = roll angle front +# # x14 = roll rate front +# # x15 = velocity in y-direction front +# # x16 = z-position front +# # x17 = velocity in z-direction front + +# # x18 = roll angle rear +# # x19 = roll rate rear +# # x20 = velocity in y-direction rear +# # x21 = z-position rear +# # x22 = velocity in z-direction rear + +# # x23 = left front wheel angular speed +# # x24 = right front wheel angular speed +# # x25 = left rear wheel angular speed +# # x26 = right rear wheel angular speed + +# # x27 = delta_y_f +# # x28 = delta_y_r + +# # u0 = steering angle velocity of front wheels +# # u1 = acceleration + +# u = np.zeros_like(u_init) + +# # vehicle body dimensions +# length = params["length"] # vehicle length [m] +# width = params["width"] # vehicle width [m] + +# # steering constraints +# # s_min = params["s_min"] # minimum steering angle [rad] +# # s_max = params["s_max"] # maximum steering angle [rad] +# # sv_min = params["sv_min"] # minimum steering velocity [rad/s] +# # sv_max = params["sv_max"] # maximum steering velocity [rad/s] + +# # longitudinal constraints +# # v_min = params["v_min"] # minimum velocity [m/s] +# # v_max = params["v_max"] # minimum velocity [m/s] +# # v_switch = params["v_switch"] # switching velocity [m/s] +# # a_max = params["a_max"] # maximum absolute acceleration [m/s^2] + +# # # masses +# # m = params["m"] # vehicle mass [kg] MASS +# # m_s = params["m_s"] # sprung mass [kg] SMASS +# # m_uf = params["m_uf"] # unsprung mass front [kg] UMASSF +# # m_ur = params["m_ur"] # unsprung mass rear [kg] UMASSR + +# # # axes distances +# # lf = params["lf"] +# # # distance from spring mass center of gravity to front axle [m] LENA +# # lr = params["lf"] +# # # distance from spring mass center of gravity to rear axle [m] LENB + +# # # moments of inertia of sprung mass +# # I_Phi_s = params["I_Phi_s"] +# # # moment of inertia for sprung mass in roll [kg m^2] IXS +# # I_y_s = params["I_y_s"] # moment of inertia for sprung mass in pitch [kg m^2] IYS +# # I_z = params["I_z"] # moment of inertia for sprung mass in yaw [kg m^2] IZZ +# # I_xz_s = params["I_xz_s"] # moment of inertia cross product [kg m^2] IXZ + +# # # suspension parameters +# # K_sf = params["K_sf"] # suspension spring rate (front) [N/m] KSF +# # K_sdf = params["K_sdf"] # suspension damping rate (front) [N s/m] KSDF +# # K_sr = params["K_sr"] # suspension spring rate (rear) [N/m] KSR +# # K_sdr = params["K_sdr"] # suspension damping rate (rear) [N s/m] KSDR + +# # # geometric parameters +# # T_f = params["T_f"] # track width front [m] TRWF +# # T_r = params["T_r"] # track width rear [m] TRWB +# # K_ras = params["K_ras"] +# # # lateral spring rate at compliant compliant pin joint between M_s and M_u [N/m] KRAS + +# # K_tsf = params["K_tsf"] +# # # auxiliary torsion roll stiffness per axle (normally negative) (front) [N m/rad] KTSF +# # K_tsr = params["K_tsr"] +# # # auxiliary torsion roll stiffness per axle (normally negative) (rear) [N m/rad] KTSR +# # K_rad = params["K_rad"] +# # # damping rate at compliant compliant pin joint between M_s and M_u [N s/m] KRADP +# # K_zt = params["K_zt"] # vertical spring rate of tire [N/m] TSPRINGR + +# # h_cg = params["h_cg"] +# # # center of gravity height of total mass [m] HCG (mainly required for conversion to other vehicle models) +# # h_raf = params["h_raf"] # height of roll axis above ground (front) [m] HRAF +# # h_rar = params["h_rar"] # height of roll axis above ground (rear) [m] HRAR + +# # h_s = params["h_s"] # M_s center of gravity above ground [m] HS + +# # I_uf = params["I_uf"] +# # # moment of inertia for unsprung mass about x-axis (front) [kg m^2] IXUF +# # I_ur = params["I_ur"] +# # # moment of inertia for unsprung mass about x-axis (rear) [kg m^2] IXUR +# # I_y_w = params["I_y_w"] +# # # wheel inertia, from internet forum for 235/65 R 17 [kg m^2] + +# # K_lt = params["K_lt"] +# # # lateral compliance rate of tire, wheel, and suspension, per tire [m/N] KLT +# # R_w = params["R_w"] +# # # effective wheel/tire radius chosen as tire rolling radius RR taken from ADAMS documentation [m] + +# # # split of brake and engine torque +# # T_sb = params["T_sb"] +# # T_se = params["T_se"] + +# # # suspension parameters +# # D_f = params["D_f"] # [rad/m] DF +# # D_r = params["D_r"] # [rad/m] DR +# # E_f = params["E_f"] # [needs conversion if nonzero] EF +# # E_r = params["E_r"] # [needs conversion if nonzero] ER + +# KIN_THRESH = 0.5 + +# # consider steering and acceleration constraints - outside of the integration +# u[0] = steering_constraint( +# x[2], +# u_init[0], +# params["s_min"], +# params["s_max"], +# params["sv_min"], +# params["sv_max"], +# ) +# u[1] = accl_constraints( +# x[3], +# u_init[1], +# params["v_switch"], +# params["a_max"], +# params["v_min"], +# params["v_max"], +# ) + +# if abs(x[3]) < KIN_THRESH: +# beta = 0.0 +# else: +# beta = np.arctan(x[10] / x[3]) +# vel = np.sqrt(x[3] ** 2 + x[10] ** 2) + +# # vertical tire forces +# F_z_LF = ( +# x[16] +# + params["R_w"] * (np.cos(x[13]) - 1) +# - 0.5 * params["T_f"] * np.sin(x[13]) +# ) * params["K_zt"] +# F_z_RF = ( +# x[16] +# + params["R_w"] * (np.cos(x[13]) - 1) +# + 0.5 * params["T_f"] * np.sin(x[13]) +# ) * params["K_zt"] +# F_z_LR = ( +# x[21] +# + params["R_w"] * (np.cos(x[18]) - 1) +# - 0.5 * params["T_r"] * np.sin(x[18]) +# ) * params["K_zt"] +# F_z_RR = ( +# x[21] +# + params["R_w"] * (np.cos(x[18]) - 1) +# + 0.5 * params["T_r"] * np.sin(x[18]) +# ) * params["K_zt"] + +# # obtain individual tire speeds +# u_w_lf = (x[3] + 0.5 * params["T_f"] * x[5]) * np.cos(x[2]) + ( +# x[10] + params["lf"] * x[5] +# ) * np.sin(x[2]) +# u_w_rf = (x[3] - 0.5 * params["T_f"] * x[5]) * np.cos(x[2]) + ( +# x[10] + params["lf"] * x[5] +# ) * np.sin(x[2]) +# u_w_lr = x[3] + 0.5 * params["T_r"] * x[5] +# u_w_rr = x[3] - 0.5 * params["T_r"] * x[5] + +# # negative wheel spin forbidden +# if u_w_lf < 0.0: +# u_w_lf *= 0 + +# if u_w_rf < 0.0: +# u_w_rf *= 0 + +# if u_w_lr < 0.0: +# u_w_lr *= 0 + +# if u_w_rr < 0.0: +# u_w_rr *= 0 +# # compute longitudinal slip +# # switch to kinematic model for small velocities +# if abs(x[3]) < KIN_THRESH: +# s_lf = 0.0 +# s_rf = 0.0 +# s_lr = 0.0 +# s_rr = 0.0 +# else: +# s_lf = 1 - params["R_w"] * x[23] / u_w_lf +# s_rf = 1 - params["R_w"] * x[24] / u_w_rf +# s_lr = 1 - params["R_w"] * x[25] / u_w_lr +# s_rr = 1 - params["R_w"] * x[26] / u_w_rr + +# # lateral slip angles +# # switch to kinematic model for small velocities +# if abs(x[3]) < KIN_THRESH: +# alpha_LF = 0.0 +# alpha_RF = 0.0 +# alpha_LR = 0.0 +# alpha_RR = 0.0 +# else: +# alpha_LF = ( +# np.arctan( +# (x[10] + params["lf"] * x[5] - x[14] * (params["R_w"] - x[16])) +# / (x[3] + 0.5 * params["T_f"] * x[5]) +# ) +# - x[2] +# ) +# alpha_RF = ( +# np.arctan( +# (x[10] + params["lf"] * x[5] - x[14] * (params["R_w"] - x[16])) +# / (x[3] - 0.5 * params["T_f"] * x[5]) +# ) +# - x[2] +# ) +# alpha_LR = np.arctan( +# (x[10] - params["lr"] * x[5] - x[19] * (params["R_w"] - x[21])) +# / (x[3] + 0.5 * params["T_r"] * x[5]) +# ) +# alpha_RR = np.arctan( +# (x[10] - params["lr"] * x[5] - x[19] * (params["R_w"] - x[21])) +# / (x[3] - 0.5 * params["T_r"] * x[5]) +# ) + +# # auxiliary suspension movement +# z_SLF = ( +# (params["h_s"] - params["R_w"] + x[16] - x[11]) / np.cos(x[6]) +# - params["h_s"] +# + params["R_w"] +# + params["lf"] * x[8] +# + 0.5 * (x[6] - x[13]) * params["T_f"] +# ) +# z_SRF = ( +# (params["h_s"] - params["R_w"] + x[16] - x[11]) / np.cos(x[6]) +# - params["h_s"] +# + params["R_w"] +# + params["lf"] * x[8] +# - 0.5 * (x[6] - x[13]) * params["T_f"] +# ) +# z_SLR = ( +# (params["h_s"] - params["R_w"] + x[21] - x[11]) / np.cos(x[6]) +# - params["h_s"] +# + params["R_w"] +# - params["lr"] * x[8] +# + 0.5 * (x[6] - x[18]) * params["T_r"] +# ) +# z_SRR = ( +# (params["h_s"] - params["R_w"] + x[21] - x[11]) / np.cos(x[6]) +# - params["h_s"] +# + params["R_w"] +# - params["lr"] * x[8] +# - 0.5 * (x[6] - x[18]) * params["T_r"] +# ) + +# dz_SLF = x[17] - x[12] + params["lf"] * x[9] + 0.5 * (x[7] - x[14]) * params["T_f"] +# dz_SRF = x[17] - x[12] + params["lf"] * x[9] - 0.5 * (x[7] - x[14]) * params["T_f"] +# dz_SLR = x[22] - x[12] - params["lr"] * x[9] + 0.5 * (x[7] - x[19]) * params["T_r"] +# dz_SRR = x[22] - x[12] - params["lr"] * x[9] - 0.5 * (x[7] - x[19]) * params["T_r"] + +# # camber angles +# gamma_LF = x[6] + params["D_f"] * z_SLF + params["E_f"] * (z_SLF) ** 2 +# gamma_RF = x[6] - params["D_f"] * z_SRF - params["E_f"] * (z_SRF) ** 2 +# gamma_LR = x[6] + params["D_r"] * z_SLR + params["E_r"] * (z_SLR) ** 2 +# gamma_RR = x[6] - params["D_r"] * z_SRR - params["E_r"] * (z_SRR) ** 2 + +# # compute longitudinal tire forces using the magic formula for pure slip +# F0_x_LF = formula_longitudinal(s_lf, gamma_LF, F_z_LF, params) +# F0_x_RF = formula_longitudinal(s_rf, gamma_RF, F_z_RF, params) +# F0_x_LR = formula_longitudinal(s_lr, gamma_LR, F_z_LR, params) +# F0_x_RR = formula_longitudinal(s_rr, gamma_RR, F_z_RR, params) + +# # compute lateral tire forces using the magic formula for pure slip +# res = formula_lateral(alpha_LF, gamma_LF, F_z_LF, params) +# F0_y_LF = res[0] +# mu_y_LF = res[1] +# res = formula_lateral(alpha_RF, gamma_RF, F_z_RF, params) +# F0_y_RF = res[0] +# mu_y_RF = res[1] +# res = formula_lateral(alpha_LR, gamma_LR, F_z_LR, params) +# F0_y_LR = res[0] +# mu_y_LR = res[1] +# res = formula_lateral(alpha_RR, gamma_RR, F_z_RR, params) +# F0_y_RR = res[0] +# mu_y_RR = res[1] + +# # compute longitudinal tire forces using the magic formula for combined slip +# F_x_LF = formula_longitudinal_comb(s_lf, alpha_LF, F0_x_LF, params) +# F_x_RF = formula_longitudinal_comb(s_rf, alpha_RF, F0_x_RF, params) +# F_x_LR = formula_longitudinal_comb(s_lr, alpha_LR, F0_x_LR, params) +# F_x_RR = formula_longitudinal_comb(s_rr, alpha_RR, F0_x_RR, params) + +# # compute lateral tire forces using the magic formula for combined slip +# F_y_LF = formula_lateral_comb( +# s_lf, alpha_LF, gamma_LF, mu_y_LF, F_z_LF, F0_y_LF, params +# ) +# F_y_RF = formula_lateral_comb( +# s_rf, alpha_RF, gamma_RF, mu_y_RF, F_z_RF, F0_y_RF, params +# ) +# F_y_LR = formula_lateral_comb( +# s_lr, alpha_LR, gamma_LR, mu_y_LR, F_z_LR, F0_y_LR, params +# ) +# F_y_RR = formula_lateral_comb( +# s_rr, alpha_RR, gamma_RR, mu_y_RR, F_z_RR, F0_y_RR, params +# ) + +# # auxiliary movements for compliant joint equations +# delta_z_f = params["h_s"] - params["R_w"] + x[16] - x[11] +# delta_z_r = params["h_s"] - params["R_w"] + x[21] - x[11] + +# delta_phi_f = x[6] - x[13] +# delta_phi_r = x[6] - x[18] + +# dot_delta_phi_f = x[7] - x[14] +# dot_delta_phi_r = x[7] - x[19] + +# dot_delta_z_f = x[17] - x[12] +# dot_delta_z_r = x[22] - x[12] + +# dot_delta_y_f = x[10] + params["lf"] * x[5] - x[15] +# dot_delta_y_r = x[10] - params["lr"] * x[5] - x[20] + +# delta_f = ( +# delta_z_f * np.sin(x[6]) +# - x[27] * np.cos(x[6]) +# - (params["h_raf"] - params["R_w"]) * np.sin(delta_phi_f) +# ) +# delta_r = ( +# delta_z_r * np.sin(x[6]) +# - x[28] * np.cos(x[6]) +# - (params["h_rar"] - params["R_w"]) * np.sin(delta_phi_r) +# ) + +# dot_delta_f = ( +# (delta_z_f * np.cos(x[6]) + x[27] * np.sin(x[6])) * x[7] +# + dot_delta_z_f * np.sin(x[6]) +# - dot_delta_y_f * np.cos(x[6]) +# - (params["h_raf"] - params["R_w"]) * np.cos(delta_phi_f) * dot_delta_phi_f +# ) +# dot_delta_r = ( +# (delta_z_r * np.cos(x[6]) + x[28] * np.sin(x[6])) * x[7] +# + dot_delta_z_r * np.sin(x[6]) +# - dot_delta_y_r * np.cos(x[6]) +# - (params["h_rar"] - params["R_w"]) * np.cos(delta_phi_r) * dot_delta_phi_r +# ) + +# # compliant joint forces +# F_RAF = delta_f * params["K_ras"] + dot_delta_f * params["K_rad"] +# F_RAR = delta_r * params["K_ras"] + dot_delta_r * params["K_rad"] + +# # auxiliary suspension forces (bump stop neglected squat/lift forces neglected) +# F_SLF = ( +# params["m_s"] * g * params["lr"] / (2 * (params["lf"] + params["lr"])) +# - z_SLF * params["K_sf"] +# - dz_SLF * params["K_sdf"] +# + (x[6] - x[13]) * params["K_tsf"] / params["T_f"] +# ) + +# F_SRF = ( +# params["m_s"] * g * params["lr"] / (2 * (params["lf"] + params["lr"])) +# - z_SRF * params["K_sf"] +# - dz_SRF * params["K_sdf"] +# - (x[6] - x[13]) * params["K_tsf"] / params["T_f"] +# ) + +# F_SLR = ( +# params["m_s"] * g * params["lf"] / (2 * (params["lf"] + params["lr"])) +# - z_SLR * params["K_sr"] +# - dz_SLR * params["K_sdr"] +# + (x[6] - x[18]) * params["K_tsr"] / params["T_r"] +# ) + +# F_SRR = ( +# params["m_s"] * g * params["lf"] / (2 * (params["lf"] + params["lr"])) +# - z_SRR * params["K_sr"] +# - dz_SRR * params["K_sdr"] +# - (x[6] - x[18]) * params["K_tsr"] / params["T_r"] +# ) + +# # auxiliary variables sprung mass +# sumX = ( +# F_x_LR +# + F_x_RR +# + (F_x_LF + F_x_RF) * np.cos(x[2]) +# - (F_y_LF + F_y_RF) * np.sin(x[2]) +# ) + +# sumN = ( +# (F_y_LF + F_y_RF) * params["lf"] * np.cos(x[2]) +# + (F_x_LF + F_x_RF) * params["lf"] * np.sin(x[2]) +# + (F_y_RF - F_y_LF) * 0.5 * params["T_f"] * np.sin(x[2]) +# + (F_x_LF - F_x_RF) * 0.5 * params["T_f"] * np.cos(x[2]) +# + (F_x_LR - F_x_RR) * 0.5 * params["T_r"] +# - (F_y_LR + F_y_RR) * params["lr"] +# ) + +# sumY_s = (F_RAF + F_RAR) * np.cos(x[6]) + (F_SLF + F_SLR + F_SRF + F_SRR) * np.sin( +# x[6] +# ) + +# sumL = ( +# 0.5 * F_SLF * params["T_f"] +# + 0.5 * F_SLR * params["T_r"] +# - 0.5 * F_SRF * params["T_f"] +# - 0.5 * F_SRR * params["T_r"] +# - F_RAF +# / np.cos(x[6]) +# * ( +# params["h_s"] +# - x[11] +# - params["R_w"] +# + x[16] +# - (params["h_raf"] - params["R_w"]) * np.cos(x[13]) +# ) +# - F_RAR +# / np.cos(x[6]) +# * ( +# params["h_s"] +# - x[11] +# - params["R_w"] +# + x[21] +# - (params["h_rar"] - params["R_w"]) * np.cos(x[18]) +# ) +# ) + +# sumZ_s = (F_SLF + F_SLR + F_SRF + F_SRR) * np.cos(x[6]) - (F_RAF + F_RAR) * np.sin( +# x[6] +# ) + +# sumM_s = ( +# params["lf"] * (F_SLF + F_SRF) +# - params["lr"] * (F_SLR + F_SRR) +# + ( +# (F_x_LF + F_x_RF) * np.cos(x[2]) +# - (F_y_LF + F_y_RF) * np.sin(x[2]) +# + F_x_LR +# + F_x_RR +# ) +# * (params["h_s"] - x[11]) +# ) + +# # auxiliary variables unsprung mass +# sumL_uf = ( +# 0.5 * F_SRF * params["T_f"] +# - 0.5 * F_SLF * params["T_f"] +# - F_RAF * (params["h_raf"] - params["R_w"]) +# + F_z_LF +# * ( +# params["R_w"] * np.sin(x[13]) +# + 0.5 * params["T_f"] * np.cos(x[13]) +# - params["K_lt"] * F_y_LF +# ) +# - F_z_RF +# * ( +# -params["R_w"] * np.sin(x[13]) +# + 0.5 * params["T_f"] * np.cos(x[13]) +# + params["K_lt"] * F_y_RF +# ) +# - ((F_y_LF + F_y_RF) * np.cos(x[2]) + (F_x_LF + F_x_RF) * np.sin(x[2])) +# * (params["R_w"] - x[16]) +# ) + +# sumL_ur = ( +# 0.5 * F_SRR * params["T_r"] +# - 0.5 * F_SLR * params["T_r"] +# - F_RAR * (params["h_rar"] - params["R_w"]) +# + F_z_LR +# * ( +# params["R_w"] * np.sin(x[18]) +# + 0.5 * params["T_r"] * np.cos(x[18]) +# - params["K_lt"] * F_y_LR +# ) +# - F_z_RR +# * ( +# -params["R_w"] * np.sin(x[18]) +# + 0.5 * params["T_r"] * np.cos(x[18]) +# + params["K_lt"] * F_y_RR +# ) +# - (F_y_LR + F_y_RR) * (params["R_w"] - x[21]) +# ) + +# sumZ_uf = F_z_LF + F_z_RF + F_RAF * np.sin(x[6]) - (F_SLF + F_SRF) * np.cos(x[6]) + +# sumZ_ur = F_z_LR + F_z_RR + F_RAR * np.sin(x[6]) - (F_SLR + F_SRR) * np.cos(x[6]) + +# sumY_uf = ( +# (F_y_LF + F_y_RF) * np.cos(x[2]) +# + (F_x_LF + F_x_RF) * np.sin(x[2]) +# - F_RAF * np.cos(x[6]) +# - (F_SLF + F_SRF) * np.sin(x[6]) +# ) + +# sumY_ur = (F_y_LR + F_y_RR) - F_RAR * np.cos(x[6]) - (F_SLR + F_SRR) * np.sin(x[6]) + +# # dynamics common with single-track model +# f = np.zeros(29) # init 'right hand side' +# # switch to kinematic model for small velocities +# if abs(x[3]) < KIN_THRESH: +# # wheelbase +# # lwb = lf + lr + +# # system dynamics +# # x_ks = [x[0], x[1], x[2], x[3], x[4]] +# # f_ks = vehicle_dynamics_ks(x_ks, u, p) +# # f.extend(f_ks) +# # f.append(u[1]*lwb*np.tan(x[2]) + x[3]/(lwb*np.cos(x[2])**2)*u[0]) + +# # Use kinematic model with reference point at center of mass +# # wheelbase +# lwb = params["lf"] + params["lr"] +# # system dynamics +# x_ks = [x[0], x[1], x[2], x[3], x[4]] +# # kinematic model +# f_ks = vehicle_dynamics_ks_cog(np.array(x_ks), u, params['mu'], +# params['C_Sf'], +# params['C_Sr'], +# params['lf'], +# params['lr'], +# params['h'], +# params['m'], +# params['I'], +# params['s_min'], +# params['s_max'], +# params['sv_min'], +# params['sv_max'], +# params['v_switch'], +# params['a_max'], +# params['v_min'], +# params['v_max'], +# params['width'], +# params['length']) +# f[0:5] = np.array([f_ks[0], f_ks[1], f_ks[2], f_ks[3], f_ks[4]]) +# # derivative of slip angle and yaw rate +# d_beta = (params["lr"] * u[0]) / ( +# lwb +# * np.cos(x[2]) ** 2 +# * (1 + (np.tan(x[2]) ** 2 * params["lr"] / lwb) ** 2) +# ) +# dd_psi = ( +# 1 +# / lwb +# * ( +# u[1] * np.cos(x[6]) * np.tan(x[2]) +# - x[3] * np.sin(x[6]) * d_beta * np.tan(x[2]) +# + x[3] * np.cos(x[6]) * u[0] / np.cos(x[2]) ** 2 +# ) +# ) +# f[5] = dd_psi + +# else: +# f[0] = np.cos(beta + x[4]) * vel +# f[1] = np.sin(beta + x[4]) * vel +# f[2] = u[0] +# f[3] = 1 / params["m"] * sumX + x[5] * x[10] +# f[4] = x[5] +# f[5] = ( +# 1 +# / (params["I_z"] - (params["I_xz_s"]) ** 2 / params["I_Phi_s"]) +# * (sumN + params["I_xz_s"] / params["I_Phi_s"] * sumL) +# ) + +# # remaining sprung mass dynamics +# f[6] = x[7] +# f[7] = ( +# 1 +# / (params["I_Phi_s"] - (params["I_xz_s"]) ** 2 / params["I_z"]) +# * (params["I_xz_s"] / params["I_z"] * sumN + sumL) +# ) +# f[8] = x[9] +# f[9] = 1 / params["I_y_s"] * sumM_s +# f[10] = 1 / params["m_s"] * sumY_s - x[5] * x[3] +# f[11] = x[12] +# f[12] = g - 1 / params["m_s"] * sumZ_s + +# # unsprung mass dynamics (front) +# f[13] = x[14] +# f[14] = 1 / params["I_uf"] * sumL_uf +# f[15] = 1 / params["m_uf"] * sumY_uf - x[5] * x[3] +# f[16] = x[17] +# f[17] = g - 1 / params["m_uf"] * sumZ_uf + +# # unsprung mass dynamics (rear) +# f[18] = x[19] +# f[19] = 1 / params["I_ur"] * sumL_ur +# f[20] = 1 / params["m_ur"] * sumY_ur - x[5] * x[3] +# f[21] = x[22] +# f[22] = g - 1 / params["m_ur"] * sumZ_ur + +# # convert acceleration input to brake and engine torque +# if u[1] > 0: +# T_B = 0.0 +# T_E = params["m"] * params["R_w"] * u[1] +# else: +# T_B = params["m"] * params["R_w"] * u[1] +# T_E = 0.0 + +# # wheel dynamics (T new parameter for torque splitting) +# f[23] = ( +# 1 +# / params["I_y_w"] +# * ( +# -params["R_w"] * F_x_LF +# + 0.5 * params["T_sb"] * T_B +# + 0.5 * params["T_se"] * T_E +# ) +# ) +# f[24] = ( +# 1 +# / params["I_y_w"] +# * ( +# -params["R_w"] * F_x_RF +# + 0.5 * params["T_sb"] * T_B +# + 0.5 * params["T_se"] * T_E +# ) +# ) +# f[25] = ( +# 1 +# / params["I_y_w"] +# * ( +# -params["R_w"] * F_x_LR +# + 0.5 * (1 - params["T_sb"]) * T_B +# + 0.5 * (1 - params["T_se"]) * T_E +# ) +# ) +# f[26] = ( +# 1 +# / params["I_y_w"] +# * ( +# -params["R_w"] * F_x_RR +# + 0.5 * (1 - params["T_sb"]) * T_B +# + 0.5 * (1 - params["T_se"]) * T_E +# ) +# ) + +# # negative wheel spin forbidden +# for iState in range(23, 27): +# if x[iState] < 0.0: +# x[iState] = 0.0 +# f[iState] = 0.0 + +# # compliant joint equations +# f[27] = dot_delta_y_f +# f[28] = dot_delta_y_r + +# return f +sequential_param_keys = ['length', 'width', 's_min', 's_max', 'sv_min', + 'sv_max', 'v_min', 'v_max', 'v_switch', 'a_max', + 'm', 'm_s', 'm_uf', 'm_ur', 'lf', 'lr', 'I_Phi_s', + 'I_y_s', 'I_z', 'I_xz_s', 'K_sf', 'K_sdf', 'K_sr', + 'K_sdr', 'T_f', 'T_r', 'K_ras', 'K_tsf', 'K_tsr', + 'K_rad', 'K_zt', 'h_cg', 'h_raf', 'h_rar', 'h_s', + 'I_uf', 'I_ur', 'I_y_w', 'K_lt', 'R_w', 'T_sb', + 'T_se', 'D_f', 'D_r', 'E_f', 'E_r', 'tire_p_cx1', + 'tire_p_dx1', 'tire_p_dx3', 'tire_p_ex1', 'tire_p_kx1', + 'tire_p_hx1', 'tire_p_vx1', 'tire_r_bx1', 'tire_r_bx2', + 'tire_r_cx1', 'tire_r_ex1', 'tire_r_hx1', 'tire_p_cy1', + 'tire_p_dy1', 'tire_p_dy3', 'tire_p_ey1', 'tire_p_ky1', + 'tire_p_hy1', 'tire_p_hy3', 'tire_p_vy1', 'tire_p_vy3', + 'tire_r_by1', 'tire_r_by2', 'tire_r_by3', 'tire_r_cy1', + 'tire_r_ey1', 'tire_r_hy1', 'tire_r_vy1', 'tire_r_vy3', + 'tire_r_vy4', 'tire_r_vy5', 'tire_r_vy6'] + +@njit(cache=True) +def vehicle_dynamics_mb(x, u_init, params): """ - vehicleDynamics_mb - multi-body vehicle dynamics based on the DoT (department of transportation) vehicle dynamics + vehicleDynamics_mb - multi-body vehicle dynamics based on the DOT (department of transportation) vehicle dynamics reference point: center of mass Syntax: @@ -28,300 +727,214 @@ def vehicle_dynamics_mb(x: np.ndarray, u_init: np.ndarray, params: dict): Outputs: :return f: right-hand side of differential equations - """ - # ------------- BEGIN CODE -------------- + Author: Matthias Althoff + Written: 05-January-2017 + Last update: 17-December-2017 + Last revision: --- + """ + KIN_THRESH = 0.5 + use_kinematic = abs(x[3]) < KIN_THRESH + #------------- BEGIN CODE -------------- # set gravity constant - g = 9.81 # [m/s^2] - - # states - # x0 = x-position in a global coordinate system - # x1 = y-position in a global coordinate system - # x2 = steering angle of front wheels - # x3 = velocity in x-direction - # x4 = yaw angle - # x5 = yaw rate - - # x6 = roll angle - # x7 = roll rate - # x8 = pitch angle - # x9 = pitch rate - # x10 = velocity in y-direction - # x11 = z-position - # x12 = velocity in z-direction - - # x13 = roll angle front - # x14 = roll rate front - # x15 = velocity in y-direction front - # x16 = z-position front - # x17 = velocity in z-direction front - - # x18 = roll angle rear - # x19 = roll rate rear - # x20 = velocity in y-direction rear - # x21 = z-position rear - # x22 = velocity in z-direction rear - - # x23 = left front wheel angular speed - # x24 = right front wheel angular speed - # x25 = left rear wheel angular speed - # x26 = right rear wheel angular speed - - # x27 = delta_y_f - # x28 = delta_y_r - - # u0 = steering angle velocity of front wheels - # u1 = acceleration - - u = np.zeros_like(u_init) + g = 9.81 #[m/s^2] + + #states + #x1 = x-position in a global coordinate system + #x2 = y-position in a global coordinate system + #x3 = steering angle of front wheels + #x4 = velocity in x-direction + #x5 = yaw angle + #x6 = yaw rate + + #x7 = roll angle + #x8 = roll rate + #x9 = pitch angle + #x10 = pitch rate + #x11 = velocity in y-direction + #x12 = z-position + #x13 = velocity in z-direction + + #x14 = roll angle front + #x15 = roll rate front + #x16 = velocity in y-direction front + #x17 = z-position front + #x18 = velocity in z-direction front + + #x19 = roll angle rear + #x20 = roll rate rear + #x21 = velocity in y-direction rear + #x22 = z-position rear + #x23 = velocity in z-direction rear + + #x24 = left front wheel angular speed + #x25 = right front wheel angular speed + #x26 = left rear wheel angular speed + #x27 = right rear wheel angular speed + + #x28 = delta_y_f + #x29 = delta_y_r + + #u1 = steering angle velocity of front wheels + #u2 = acceleration # vehicle body dimensions - length = params["length"] # vehicle length [m] - width = params["width"] # vehicle width [m] + length = params[0] # vehicle length [m] + width = params[1] # vehicle width [m] # steering constraints - # s_min = params["s_min"] # minimum steering angle [rad] - # s_max = params["s_max"] # maximum steering angle [rad] - # sv_min = params["sv_min"] # minimum steering velocity [rad/s] - # sv_max = params["sv_max"] # maximum steering velocity [rad/s] + s_min = params[2] # minimum steering angle [rad] + s_max = params[3] # maximum steering angle [rad] + sv_min = params[4] # minimum steering velocity [rad/s] + sv_max = params[5] # maximum steering velocity [rad/s] # longitudinal constraints - # v_min = params["v_min"] # minimum velocity [m/s] - # v_max = params["v_max"] # minimum velocity [m/s] - # v_switch = params["v_switch"] # switching velocity [m/s] - # a_max = params["a_max"] # maximum absolute acceleration [m/s^2] - - # # masses - # m = params["m"] # vehicle mass [kg] MASS - # m_s = params["m_s"] # sprung mass [kg] SMASS - # m_uf = params["m_uf"] # unsprung mass front [kg] UMASSF - # m_ur = params["m_ur"] # unsprung mass rear [kg] UMASSR - - # # axes distances - # lf = params["lf"] - # # distance from spring mass center of gravity to front axle [m] LENA - # lr = params["lf"] - # # distance from spring mass center of gravity to rear axle [m] LENB - - # # moments of inertia of sprung mass - # I_Phi_s = params["I_Phi_s"] - # # moment of inertia for sprung mass in roll [kg m^2] IXS - # I_y_s = params["I_y_s"] # moment of inertia for sprung mass in pitch [kg m^2] IYS - # I_z = params["I_z"] # moment of inertia for sprung mass in yaw [kg m^2] IZZ - # I_xz_s = params["I_xz_s"] # moment of inertia cross product [kg m^2] IXZ - - # # suspension parameters - # K_sf = params["K_sf"] # suspension spring rate (front) [N/m] KSF - # K_sdf = params["K_sdf"] # suspension damping rate (front) [N s/m] KSDF - # K_sr = params["K_sr"] # suspension spring rate (rear) [N/m] KSR - # K_sdr = params["K_sdr"] # suspension damping rate (rear) [N s/m] KSDR - - # # geometric parameters - # T_f = params["T_f"] # track width front [m] TRWF - # T_r = params["T_r"] # track width rear [m] TRWB - # K_ras = params["K_ras"] - # # lateral spring rate at compliant compliant pin joint between M_s and M_u [N/m] KRAS - - # K_tsf = params["K_tsf"] - # # auxiliary torsion roll stiffness per axle (normally negative) (front) [N m/rad] KTSF - # K_tsr = params["K_tsr"] - # # auxiliary torsion roll stiffness per axle (normally negative) (rear) [N m/rad] KTSR - # K_rad = params["K_rad"] - # # damping rate at compliant compliant pin joint between M_s and M_u [N s/m] KRADP - # K_zt = params["K_zt"] # vertical spring rate of tire [N/m] TSPRINGR - - # h_cg = params["h_cg"] - # # center of gravity height of total mass [m] HCG (mainly required for conversion to other vehicle models) - # h_raf = params["h_raf"] # height of roll axis above ground (front) [m] HRAF - # h_rar = params["h_rar"] # height of roll axis above ground (rear) [m] HRAR - - # h_s = params["h_s"] # M_s center of gravity above ground [m] HS - - # I_uf = params["I_uf"] - # # moment of inertia for unsprung mass about x-axis (front) [kg m^2] IXUF - # I_ur = params["I_ur"] - # # moment of inertia for unsprung mass about x-axis (rear) [kg m^2] IXUR - # I_y_w = params["I_y_w"] - # # wheel inertia, from internet forum for 235/65 R 17 [kg m^2] - - # K_lt = params["K_lt"] - # # lateral compliance rate of tire, wheel, and suspension, per tire [m/N] KLT - # R_w = params["R_w"] - # # effective wheel/tire radius chosen as tire rolling radius RR taken from ADAMS documentation [m] - - # # split of brake and engine torque - # T_sb = params["T_sb"] - # T_se = params["T_se"] - - # # suspension parameters - # D_f = params["D_f"] # [rad/m] DF - # D_r = params["D_r"] # [rad/m] DR - # E_f = params["E_f"] # [needs conversion if nonzero] EF - # E_r = params["E_r"] # [needs conversion if nonzero] ER + v_min = params[6] # minimum velocity [m/s] + v_max = params[7] # minimum velocity [m/s] + v_switch = params[8] # switching velocity [m/s] + a_max = params[9] # maximum absolute acceleration [m/s^2] + + # masses + m = params[10] # vehicle mass [kg] MASS + m_s = params[11] # sprung mass [kg] SMASS + m_uf = params[12] # unsprung mass front [kg] UMASSF + m_ur = params[13] # unsprung mass rear [kg] UMASSR + + # axes distances + lf = params[14] # distance from spring mass center of gravity to front axle [m] LENA + lr = params[15] # distance from spring mass center of gravity to rear axle [m] LENB + + # moments of inertia of sprung mass + I_Phi_s = params[16] # moment of inertia for sprung mass in roll [kg m^2] IXS + I_y_s = params[17] # moment of inertia for sprung mass in pitch [kg m^2] IYS + I_z = params[18] # moment of inertia for sprung mass in yaw [kg m^2] IZZ + I_xz_s = params[19] # moment of inertia cross product [kg m^2] IXZ + + # suspension parameters + K_sf = params[20] # suspension spring rate (front) [N/m] KSF + K_sdf = params[21] # suspension damping rate (front) [N s/m] KSDF + K_sr = params[22] # suspension spring rate (rear) [N/m] KSR + K_sdr = params[23] # suspension damping rate (rear) [N s/m] KSDR + + # geometric parameters + T_f = params[24] # track width front [m] TRWF + T_r = params[25] # track width rear [m] TRWB + K_ras = params[26] # lateral spring rate at compliant compliant pin joint between M_s and M_u [N/m] KRAS + + K_tsf = params[27] # auxiliary torsion roll stiffness per axle (normally negative) (front) [N m/rad] KTSF + K_tsr = params[28] # auxiliary torsion roll stiffness per axle (normally negative) (rear) [N m/rad] KTSR + K_rad = params[29] # damping rate at compliant compliant pin joint between M_s and M_u [N s/m] KRADP + K_zt = params[30] # vertical spring rate of tire [N/m] TSPRINGR + + h_cg = params[31] # center of gravity height of total mass [m] HCG (mainly required for conversion to other vehicle models) + h_raf = params[32] # height of roll axis above ground (front) [m] HRAF + h_rar = params[33] # height of roll axis above ground (rear) [m] HRAR + + h_s = params[34] # M_s center of gravity above ground [m] HS + + I_uf = params[35] # moment of inertia for unsprung mass about x-axis (front) [kg m^2] IXUF + I_ur = params[36] # moment of inertia for unsprung mass about x-axis (rear) [kg m^2] IXUR + I_y_w = params[37] # wheel inertia, from internet forum for 235/65 R 17 [kg m^2] + + K_lt = params[38] # lateral compliance rate of tire, wheel, and suspension, per tire [m/N] KLT + R_w = params[39] # effective wheel/tire radius chosen as tire rolling radius RR taken from ADAMS documentation [m] + + # split of brake and engine torque + T_sb = params[40] + T_se = params[41] + + # suspension parameters + D_f = params[42] # [rad/m] DF + D_r = params[43] # [rad/m] DR + E_f = params[44] # [needs conversion if nonzero] EF + E_r = params[45] # [needs conversion if nonzero] ER - KIN_THRESH = 0.5 # consider steering and acceleration constraints - outside of the integration - u[0] = steering_constraint( - x[2], - u_init[0], - params["s_min"], - params["s_max"], - params["sv_min"], - params["sv_max"], - ) - u[1] = accl_constraints( - x[3], - u_init[1], - params["v_switch"], - params["a_max"], - params["v_min"], - params["v_max"], - ) - - if abs(x[3]) < KIN_THRESH: - beta = 0.0 + # u = np.array([steering_constraint(x[2], u_init[0], s_min, s_max, sv_min, sv_max), accl_constraints(x[3], u_init[1], v_switch, a_max, v_min, v_max)]) + + #compute slip angle at cg - outside of the integration + # switch to kinematic model for small velocities handeled outside + u = np.array([steering_constraint(x[2], u_init[0], s_min, s_max, sv_min, sv_max), + accl_constraints(x[3], u_init[1], v_switch, a_max, v_min, v_max)]) + + + if use_kinematic: + beta = 0. else: - beta = np.arctan(x[10] / x[3]) - vel = np.sqrt(x[3] ** 2 + x[10] ** 2) - - # vertical tire forces - F_z_LF = ( - x[16] - + params["R_w"] * (np.cos(x[13]) - 1) - - 0.5 * params["T_f"] * np.sin(x[13]) - ) * params["K_zt"] - F_z_RF = ( - x[16] - + params["R_w"] * (np.cos(x[13]) - 1) - + 0.5 * params["T_f"] * np.sin(x[13]) - ) * params["K_zt"] - F_z_LR = ( - x[21] - + params["R_w"] * (np.cos(x[18]) - 1) - - 0.5 * params["T_r"] * np.sin(x[18]) - ) * params["K_zt"] - F_z_RR = ( - x[21] - + params["R_w"] * (np.cos(x[18]) - 1) - + 0.5 * params["T_r"] * np.sin(x[18]) - ) * params["K_zt"] - - # obtain individual tire speeds - u_w_lf = (x[3] + 0.5 * params["T_f"] * x[5]) * np.cos(x[2]) + ( - x[10] + params["lf"] * x[5] - ) * np.sin(x[2]) - u_w_rf = (x[3] - 0.5 * params["T_f"] * x[5]) * np.cos(x[2]) + ( - x[10] + params["lf"] * x[5] - ) * np.sin(x[2]) - u_w_lr = x[3] + 0.5 * params["T_r"] * x[5] - u_w_rr = x[3] - 0.5 * params["T_r"] * x[5] - - # negative wheel spin forbidden - if u_w_lf < 0.0: - u_w_lf *= 0 - - if u_w_rf < 0.0: - u_w_rf *= 0 - - if u_w_lr < 0.0: - u_w_lr *= 0 - - if u_w_rr < 0.0: - u_w_rr *= 0 - # compute longitudinal slip - # switch to kinematic model for small velocities - if abs(x[3]) < KIN_THRESH: - s_lf = 0.0 - s_rf = 0.0 - s_lr = 0.0 - s_rr = 0.0 + beta = np.arctan(x[10]/x[3]) + vel = np.sqrt(x[3]**2 + x[10]**2) + + #vertical tire forces + F_z_LF = (x[16] + R_w*(np.cos(x[13]) - 1) - 0.5*T_f*np.sin(x[13]))*K_zt + F_z_RF = (x[16] + R_w*(np.cos(x[13]) - 1) + 0.5*T_f*np.sin(x[13]))*K_zt + F_z_LR = (x[21] + R_w*(np.cos(x[18]) - 1) - 0.5*T_r*np.sin(x[18]))*K_zt + F_z_RR = (x[21] + R_w*(np.cos(x[18]) - 1) + 0.5*T_r*np.sin(x[18]))*K_zt + + #obtain individual tire speeds + u_w_lf = (x[3] + 0.5*T_f*x[5])*np.cos(x[2]) + (x[10] + lf*x[5])*np.sin(x[2]) + u_w_rf = (x[3] - 0.5*T_f*x[5])*np.cos(x[2]) + (x[10] + lf*x[5])*np.sin(x[2]) + u_w_lr = x[3] + 0.5*T_r*x[5] + u_w_rr = x[3] - 0.5*T_r*x[5] + + #negative wheel spin forbidden + u_w_lf = np.maximum(u_w_lf, 0.0) + u_w_rf = np.maximum(u_w_rf, 0.0) + u_w_lr = np.maximum(u_w_lr, 0.0) + u_w_rr = np.maximum(u_w_rr, 0.0) + + #compute longitudinal slip + #switch to kinematic model for small velocities + if use_kinematic: + s_lf = 0. + s_rf = 0. + s_lr = 0. + s_rr = 0. else: - s_lf = 1 - params["R_w"] * x[23] / u_w_lf - s_rf = 1 - params["R_w"] * x[24] / u_w_rf - s_lr = 1 - params["R_w"] * x[25] / u_w_lr - s_rr = 1 - params["R_w"] * x[26] / u_w_rr - - # lateral slip angles - # switch to kinematic model for small velocities - if abs(x[3]) < KIN_THRESH: - alpha_LF = 0.0 - alpha_RF = 0.0 - alpha_LR = 0.0 - alpha_RR = 0.0 + s_lf = 1 - R_w*x[23]/u_w_lf + s_rf = 1 - R_w*x[24]/u_w_rf + s_lr = 1 - R_w*x[25]/u_w_lr + s_rr = 1 - R_w*x[26]/u_w_rr + + + #lateral slip angles + #switch to kinematic model for small velocities + if use_kinematic: + alpha_LF = 0. + alpha_RF = 0. + alpha_LR = 0. + alpha_RR = 0. else: - alpha_LF = ( - np.arctan( - (x[10] + params["lf"] * x[5] - x[14] * (params["R_w"] - x[16])) - / (x[3] + 0.5 * params["T_f"] * x[5]) - ) - - x[2] - ) - alpha_RF = ( - np.arctan( - (x[10] + params["lf"] * x[5] - x[14] * (params["R_w"] - x[16])) - / (x[3] - 0.5 * params["T_f"] * x[5]) - ) - - x[2] - ) - alpha_LR = np.arctan( - (x[10] - params["lr"] * x[5] - x[19] * (params["R_w"] - x[21])) - / (x[3] + 0.5 * params["T_r"] * x[5]) - ) - alpha_RR = np.arctan( - (x[10] - params["lr"] * x[5] - x[19] * (params["R_w"] - x[21])) - / (x[3] - 0.5 * params["T_r"] * x[5]) - ) - - # auxiliary suspension movement - z_SLF = ( - (params["h_s"] - params["R_w"] + x[16] - x[11]) / np.cos(x[6]) - - params["h_s"] - + params["R_w"] - + params["lf"] * x[8] - + 0.5 * (x[6] - x[13]) * params["T_f"] - ) - z_SRF = ( - (params["h_s"] - params["R_w"] + x[16] - x[11]) / np.cos(x[6]) - - params["h_s"] - + params["R_w"] - + params["lf"] * x[8] - - 0.5 * (x[6] - x[13]) * params["T_f"] - ) - z_SLR = ( - (params["h_s"] - params["R_w"] + x[21] - x[11]) / np.cos(x[6]) - - params["h_s"] - + params["R_w"] - - params["lr"] * x[8] - + 0.5 * (x[6] - x[18]) * params["T_r"] - ) - z_SRR = ( - (params["h_s"] - params["R_w"] + x[21] - x[11]) / np.cos(x[6]) - - params["h_s"] - + params["R_w"] - - params["lr"] * x[8] - - 0.5 * (x[6] - x[18]) * params["T_r"] - ) - - dz_SLF = x[17] - x[12] + params["lf"] * x[9] + 0.5 * (x[7] - x[14]) * params["T_f"] - dz_SRF = x[17] - x[12] + params["lf"] * x[9] - 0.5 * (x[7] - x[14]) * params["T_f"] - dz_SLR = x[22] - x[12] - params["lr"] * x[9] + 0.5 * (x[7] - x[19]) * params["T_r"] - dz_SRR = x[22] - x[12] - params["lr"] * x[9] - 0.5 * (x[7] - x[19]) * params["T_r"] - - # camber angles - gamma_LF = x[6] + params["D_f"] * z_SLF + params["E_f"] * (z_SLF) ** 2 - gamma_RF = x[6] - params["D_f"] * z_SRF - params["E_f"] * (z_SRF) ** 2 - gamma_LR = x[6] + params["D_r"] * z_SLR + params["E_r"] * (z_SLR) ** 2 - gamma_RR = x[6] - params["D_r"] * z_SRR - params["E_r"] * (z_SRR) ** 2 - - # compute longitudinal tire forces using the magic formula for pure slip + alpha_LF = np.arctan((x[10] + lf*x[5] - x[14]*(R_w - x[16]))/(x[3] + 0.5*T_f*x[5])) - x[2] + alpha_RF = np.arctan((x[10] + lf*x[5] - x[14]*(R_w - x[16]))/(x[3] - 0.5*T_f*x[5])) - x[2] + alpha_LR = np.arctan((x[10] - lr*x[5] - x[19]*(R_w - x[21]))/(x[3] + 0.5*T_r*x[5])) + alpha_RR = np.arctan((x[10] - lr*x[5] - x[19]*(R_w - x[21]))/(x[3] - 0.5*T_r*x[5])) + + #auxiliary suspension movement + z_SLF = (h_s - R_w + x[16] - x[11])/np.cos(x[6]) - h_s + R_w + lf*x[8] + 0.5*(x[6] - x[13])*T_f + z_SRF = (h_s - R_w + x[16] - x[11])/np.cos(x[6]) - h_s + R_w + lf*x[8] - 0.5*(x[6] - x[13])*T_f + z_SLR = (h_s - R_w + x[21] - x[11])/np.cos(x[6]) - h_s + R_w - lr*x[8] + 0.5*(x[6] - x[18])*T_r + z_SRR = (h_s - R_w + x[21] - x[11])/np.cos(x[6]) - h_s + R_w - lr*x[8] - 0.5*(x[6] - x[18])*T_r + + dz_SLF = x[17] - x[12] + lf*x[9] + 0.5*(x[7] - x[14])*T_f + dz_SRF = x[17] - x[12] + lf*x[9] - 0.5*(x[7] - x[14])*T_f + dz_SLR = x[22] - x[12] - lr*x[9] + 0.5*(x[7] - x[19])*T_r + dz_SRR = x[22] - x[12] - lr*x[9] - 0.5*(x[7] - x[19])*T_r + + #camber angles + gamma_LF = x[6] + D_f*z_SLF + E_f*(z_SLF)**2 + gamma_RF = x[6] - D_f*z_SRF - E_f*(z_SRF)**2 + gamma_LR = x[6] + D_r*z_SLR + E_r*(z_SLR)**2 + gamma_RR = x[6] - D_r*z_SRR - E_r*(z_SRR)**2 + + #compute longitudinal tire forces using the magic formula for pure slip F0_x_LF = formula_longitudinal(s_lf, gamma_LF, F_z_LF, params) F0_x_RF = formula_longitudinal(s_rf, gamma_RF, F_z_RF, params) F0_x_LR = formula_longitudinal(s_lr, gamma_LR, F_z_LR, params) F0_x_RR = formula_longitudinal(s_rr, gamma_RR, F_z_RR, params) - - # compute lateral tire forces using the magic formula for pure slip + + #compute lateral tire forces using the magic formula for pure slip res = formula_lateral(alpha_LF, gamma_LF, F_z_LF, params) F0_y_LF = res[0] mu_y_LF = res[1] @@ -335,29 +948,21 @@ def vehicle_dynamics_mb(x: np.ndarray, u_init: np.ndarray, params: dict): F0_y_RR = res[0] mu_y_RR = res[1] - # compute longitudinal tire forces using the magic formula for combined slip + #compute longitudinal tire forces using the magic formula for combined slip F_x_LF = formula_longitudinal_comb(s_lf, alpha_LF, F0_x_LF, params) F_x_RF = formula_longitudinal_comb(s_rf, alpha_RF, F0_x_RF, params) F_x_LR = formula_longitudinal_comb(s_lr, alpha_LR, F0_x_LR, params) F_x_RR = formula_longitudinal_comb(s_rr, alpha_RR, F0_x_RR, params) - # compute lateral tire forces using the magic formula for combined slip - F_y_LF = formula_lateral_comb( - s_lf, alpha_LF, gamma_LF, mu_y_LF, F_z_LF, F0_y_LF, params - ) - F_y_RF = formula_lateral_comb( - s_rf, alpha_RF, gamma_RF, mu_y_RF, F_z_RF, F0_y_RF, params - ) - F_y_LR = formula_lateral_comb( - s_lr, alpha_LR, gamma_LR, mu_y_LR, F_z_LR, F0_y_LR, params - ) - F_y_RR = formula_lateral_comb( - s_rr, alpha_RR, gamma_RR, mu_y_RR, F_z_RR, F0_y_RR, params - ) - - # auxiliary movements for compliant joint equations - delta_z_f = params["h_s"] - params["R_w"] + x[16] - x[11] - delta_z_r = params["h_s"] - params["R_w"] + x[21] - x[11] + #compute lateral tire forces using the magic formula for combined slip + F_y_LF = formula_lateral_comb(s_lf, alpha_LF, gamma_LF, mu_y_LF, F_z_LF, F0_y_LF, params) + F_y_RF = formula_lateral_comb(s_rf, alpha_RF, gamma_RF, mu_y_RF, F_z_RF, F0_y_RF, params) + F_y_LR = formula_lateral_comb(s_lr, alpha_LR, gamma_LR, mu_y_LR, F_z_LR, F0_y_LR, params) + F_y_RR = formula_lateral_comb(s_rr, alpha_RR, gamma_RR, mu_y_RR, F_z_RR, F0_y_RR, params) + + #auxiliary movements for compliant joint equations + delta_z_f = h_s - R_w + x[16] - x[11] + delta_z_r = h_s - R_w + x[21] - x[11] delta_phi_f = x[6] - x[13] delta_phi_r = x[6] - x[18] @@ -368,185 +973,72 @@ def vehicle_dynamics_mb(x: np.ndarray, u_init: np.ndarray, params: dict): dot_delta_z_f = x[17] - x[12] dot_delta_z_r = x[22] - x[12] - dot_delta_y_f = x[10] + params["lf"] * x[5] - x[15] - dot_delta_y_r = x[10] - params["lr"] * x[5] - x[20] + dot_delta_y_f = x[10] + lf*x[5] - x[15] + dot_delta_y_r = x[10] - lr*x[5] - x[20] - delta_f = ( - delta_z_f * np.sin(x[6]) - - x[27] * np.cos(x[6]) - - (params["h_raf"] - params["R_w"]) * np.sin(delta_phi_f) - ) - delta_r = ( - delta_z_r * np.sin(x[6]) - - x[28] * np.cos(x[6]) - - (params["h_rar"] - params["R_w"]) * np.sin(delta_phi_r) - ) + delta_f = delta_z_f*np.sin(x[6]) - x[27]*np.cos(x[6]) - (h_raf - R_w)*np.sin(delta_phi_f) + delta_r = delta_z_r*np.sin(x[6]) - x[28]*np.cos(x[6]) - (h_rar - R_w)*np.sin(delta_phi_r) - dot_delta_f = ( - (delta_z_f * np.cos(x[6]) + x[27] * np.sin(x[6])) * x[7] - + dot_delta_z_f * np.sin(x[6]) - - dot_delta_y_f * np.cos(x[6]) - - (params["h_raf"] - params["R_w"]) * np.cos(delta_phi_f) * dot_delta_phi_f - ) - dot_delta_r = ( - (delta_z_r * np.cos(x[6]) + x[28] * np.sin(x[6])) * x[7] - + dot_delta_z_r * np.sin(x[6]) - - dot_delta_y_r * np.cos(x[6]) - - (params["h_rar"] - params["R_w"]) * np.cos(delta_phi_r) * dot_delta_phi_r - ) + dot_delta_f = (delta_z_f*np.cos(x[6]) + x[27]*np.sin(x[6]))*x[7] + dot_delta_z_f*np.sin(x[6]) - dot_delta_y_f*np.cos(x[6]) - (h_raf - R_w)*np.cos(delta_phi_f)*dot_delta_phi_f + dot_delta_r = (delta_z_r*np.cos(x[6]) + x[28]*np.sin(x[6]))*x[7] + dot_delta_z_r*np.sin(x[6]) - dot_delta_y_r*np.cos(x[6]) - (h_rar - R_w)*np.cos(delta_phi_r)*dot_delta_phi_r - # compliant joint forces - F_RAF = delta_f * params["K_ras"] + dot_delta_f * params["K_rad"] - F_RAR = delta_r * params["K_ras"] + dot_delta_r * params["K_rad"] + #compliant joint forces + F_RAF = delta_f*K_ras + dot_delta_f*K_rad + F_RAR = delta_r*K_ras + dot_delta_r*K_rad + + #auxiliary suspension forces (bump stop neglected squat/lift forces neglected) + F_SLF = m_s*g*lr/(2*(lf+lr)) - z_SLF*K_sf - dz_SLF*K_sdf + (x[6] - x[13])*K_tsf/T_f - # auxiliary suspension forces (bump stop neglected squat/lift forces neglected) - F_SLF = ( - params["m_s"] * g * params["lr"] / (2 * (params["lf"] + params["lr"])) - - z_SLF * params["K_sf"] - - dz_SLF * params["K_sdf"] - + (x[6] - x[13]) * params["K_tsf"] / params["T_f"] - ) + F_SRF = m_s*g*lr/(2*(lf+lr)) - z_SRF*K_sf - dz_SRF*K_sdf - (x[6] - x[13])*K_tsf/T_f - F_SRF = ( - params["m_s"] * g * params["lr"] / (2 * (params["lf"] + params["lr"])) - - z_SRF * params["K_sf"] - - dz_SRF * params["K_sdf"] - - (x[6] - x[13]) * params["K_tsf"] / params["T_f"] - ) + F_SLR = m_s*g*lf/(2*(lf+lr)) - z_SLR*K_sr - dz_SLR*K_sdr + (x[6] - x[18])*K_tsr/T_r - F_SLR = ( - params["m_s"] * g * params["lf"] / (2 * (params["lf"] + params["lr"])) - - z_SLR * params["K_sr"] - - dz_SLR * params["K_sdr"] - + (x[6] - x[18]) * params["K_tsr"] / params["T_r"] - ) + F_SRR = m_s*g*lf/(2*(lf+lr)) - z_SRR*K_sr - dz_SRR*K_sdr - (x[6] - x[18])*K_tsr/T_r - F_SRR = ( - params["m_s"] * g * params["lf"] / (2 * (params["lf"] + params["lr"])) - - z_SRR * params["K_sr"] - - dz_SRR * params["K_sdr"] - - (x[6] - x[18]) * params["K_tsr"] / params["T_r"] - ) + #auxiliary variables sprung mass + sumX = F_x_LR + F_x_RR + (F_x_LF + F_x_RF)*np.cos(x[2]) - (F_y_LF + F_y_RF)*np.sin(x[2]) - # auxiliary variables sprung mass - sumX = ( - F_x_LR - + F_x_RR - + (F_x_LF + F_x_RF) * np.cos(x[2]) - - (F_y_LF + F_y_RF) * np.sin(x[2]) - ) + sumN = (F_y_LF + F_y_RF)*lf*np.cos(x[2]) + (F_x_LF + F_x_RF)*lf*np.sin(x[2]) \ + + (F_y_RF - F_y_LF)*0.5*T_f*np.sin(x[2]) + (F_x_LF - F_x_RF)*0.5*T_f*np.cos(x[2]) \ + + (F_x_LR - F_x_RR)*0.5*T_r - (F_y_LR + F_y_RR)*lr - sumN = ( - (F_y_LF + F_y_RF) * params["lf"] * np.cos(x[2]) - + (F_x_LF + F_x_RF) * params["lf"] * np.sin(x[2]) - + (F_y_RF - F_y_LF) * 0.5 * params["T_f"] * np.sin(x[2]) - + (F_x_LF - F_x_RF) * 0.5 * params["T_f"] * np.cos(x[2]) - + (F_x_LR - F_x_RR) * 0.5 * params["T_r"] - - (F_y_LR + F_y_RR) * params["lr"] - ) + sumY_s = (F_RAF + F_RAR)*np.cos(x[6]) + (F_SLF + F_SLR + F_SRF + F_SRR)*np.sin(x[6]) - sumY_s = (F_RAF + F_RAR) * np.cos(x[6]) + (F_SLF + F_SLR + F_SRF + F_SRR) * np.sin( - x[6] - ) + sumL = 0.5*F_SLF*T_f + 0.5*F_SLR*T_r - 0.5*F_SRF*T_f - 0.5*F_SRR*T_r \ + - F_RAF/np.cos(x[6])*(h_s - x[11] - R_w + x[16] - (h_raf - R_w)*np.cos(x[13])) \ + - F_RAR/np.cos(x[6])*(h_s - x[11] - R_w + x[21] - (h_rar - R_w)*np.cos(x[18])) - sumL = ( - 0.5 * F_SLF * params["T_f"] - + 0.5 * F_SLR * params["T_r"] - - 0.5 * F_SRF * params["T_f"] - - 0.5 * F_SRR * params["T_r"] - - F_RAF - / np.cos(x[6]) - * ( - params["h_s"] - - x[11] - - params["R_w"] - + x[16] - - (params["h_raf"] - params["R_w"]) * np.cos(x[13]) - ) - - F_RAR - / np.cos(x[6]) - * ( - params["h_s"] - - x[11] - - params["R_w"] - + x[21] - - (params["h_rar"] - params["R_w"]) * np.cos(x[18]) - ) - ) + sumZ_s = (F_SLF + F_SLR + F_SRF + F_SRR)*np.cos(x[6]) - (F_RAF + F_RAR)*np.sin(x[6]) - sumZ_s = (F_SLF + F_SLR + F_SRF + F_SRR) * np.cos(x[6]) - (F_RAF + F_RAR) * np.sin( - x[6] - ) + sumM_s = lf*(F_SLF + F_SRF) - lr*(F_SLR + F_SRR) + ((F_x_LF + F_x_RF)*np.cos(x[2]) \ + - (F_y_LF + F_y_RF)*np.sin(x[2]) + F_x_LR + F_x_RR)*(h_s - x[11]) - sumM_s = ( - params["lf"] * (F_SLF + F_SRF) - - params["lr"] * (F_SLR + F_SRR) - + ( - (F_x_LF + F_x_RF) * np.cos(x[2]) - - (F_y_LF + F_y_RF) * np.sin(x[2]) - + F_x_LR - + F_x_RR - ) - * (params["h_s"] - x[11]) - ) + #auxiliary variables unsprung mass + sumL_uf = 0.5*F_SRF*T_f - 0.5*F_SLF*T_f - F_RAF*(h_raf - R_w) \ + + F_z_LF*(R_w*np.sin(x[13]) + 0.5*T_f*np.cos(x[13]) - K_lt*F_y_LF) \ + - F_z_RF*(-R_w*np.sin(x[13]) + 0.5*T_f*np.cos(x[13]) + K_lt*F_y_RF) \ + - ((F_y_LF + F_y_RF)*np.cos(x[2]) + (F_x_LF + F_x_RF)*np.sin(x[2]))*(R_w - x[16]) - # auxiliary variables unsprung mass - sumL_uf = ( - 0.5 * F_SRF * params["T_f"] - - 0.5 * F_SLF * params["T_f"] - - F_RAF * (params["h_raf"] - params["R_w"]) - + F_z_LF - * ( - params["R_w"] * np.sin(x[13]) - + 0.5 * params["T_f"] * np.cos(x[13]) - - params["K_lt"] * F_y_LF - ) - - F_z_RF - * ( - -params["R_w"] * np.sin(x[13]) - + 0.5 * params["T_f"] * np.cos(x[13]) - + params["K_lt"] * F_y_RF - ) - - ((F_y_LF + F_y_RF) * np.cos(x[2]) + (F_x_LF + F_x_RF) * np.sin(x[2])) - * (params["R_w"] - x[16]) - ) + sumL_ur = 0.5*F_SRR*T_r - 0.5*F_SLR*T_r - F_RAR*(h_rar - R_w) \ + + F_z_LR*(R_w*np.sin(x[18]) + 0.5*T_r*np.cos(x[18]) - K_lt*F_y_LR) \ + - F_z_RR*(-R_w*np.sin(x[18]) + 0.5*T_r*np.cos(x[18]) + K_lt*F_y_RR) \ + - (F_y_LR + F_y_RR)*(R_w - x[21]) - sumL_ur = ( - 0.5 * F_SRR * params["T_r"] - - 0.5 * F_SLR * params["T_r"] - - F_RAR * (params["h_rar"] - params["R_w"]) - + F_z_LR - * ( - params["R_w"] * np.sin(x[18]) - + 0.5 * params["T_r"] * np.cos(x[18]) - - params["K_lt"] * F_y_LR - ) - - F_z_RR - * ( - -params["R_w"] * np.sin(x[18]) - + 0.5 * params["T_r"] * np.cos(x[18]) - + params["K_lt"] * F_y_RR - ) - - (F_y_LR + F_y_RR) * (params["R_w"] - x[21]) - ) + sumZ_uf = F_z_LF + F_z_RF + F_RAF*np.sin(x[6]) - (F_SLF + F_SRF)*np.cos(x[6]) - sumZ_uf = F_z_LF + F_z_RF + F_RAF * np.sin(x[6]) - (F_SLF + F_SRF) * np.cos(x[6]) + sumZ_ur = F_z_LR + F_z_RR + F_RAR*np.sin(x[6]) - (F_SLR + F_SRR)*np.cos(x[6]) - sumZ_ur = F_z_LR + F_z_RR + F_RAR * np.sin(x[6]) - (F_SLR + F_SRR) * np.cos(x[6]) + sumY_uf = (F_y_LF + F_y_RF)*np.cos(x[2]) + (F_x_LF + F_x_RF)*np.sin(x[2]) \ + - F_RAF*np.cos(x[6]) - (F_SLF + F_SRF)*np.sin(x[6]) - sumY_uf = ( - (F_y_LF + F_y_RF) * np.cos(x[2]) - + (F_x_LF + F_x_RF) * np.sin(x[2]) - - F_RAF * np.cos(x[6]) - - (F_SLF + F_SRF) * np.sin(x[6]) - ) + sumY_ur = (F_y_LR + F_y_RR) \ + - F_RAR*np.cos(x[6]) - (F_SLR + F_SRR)*np.sin(x[6]) - sumY_ur = (F_y_LR + F_y_RR) - F_RAR * np.cos(x[6]) - (F_SLR + F_SRR) * np.sin(x[6]) # dynamics common with single-track model - f = np.zeros(29) # init 'right hand side' + f = np.zeros((29,))# init 'right hand side' # switch to kinematic model for small velocities - if abs(x[3]) < KIN_THRESH: + if use_kinematic: # wheelbase # lwb = lf + lr @@ -558,137 +1050,129 @@ def vehicle_dynamics_mb(x: np.ndarray, u_init: np.ndarray, params: dict): # Use kinematic model with reference point at center of mass # wheelbase - lwb = params["lf"] + params["lr"] + lwb = lf + lr + # system dynamics - x_ks = [x[0], x[1], x[2], x[3], x[4]] + x_ks = x[0:5] # kinematic model - f_ks = vehicle_dynamics_ks_cog(np.array(x_ks), u, params) - f[0:5] = np.array([f_ks[0], f_ks[1], f_ks[2], f_ks[3], f_ks[4]]) + # f_ks = vehicle_dynamics_ks_cog(x_ks, u, p) + # f = [f_ks[0], f_ks[1], f_ks[2], f_ks[3], f_ks[4]] # 1 2 3 4 5 + f_ks = vehicle_dynamics_ks_cog(x_ks, u, 0., 0., 0., lf, lr, 0., 0., 0., s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max, 0., 0.) + f[0:5] = f_ks # derivative of slip angle and yaw rate - d_beta = (params["lr"] * u[0]) / ( - lwb - * np.cos(x[2]) ** 2 - * (1 + (np.tan(x[2]) ** 2 * params["lr"] / lwb) ** 2) - ) - dd_psi = ( - 1 - / lwb - * ( - u[1] * np.cos(x[6]) * np.tan(x[2]) - - x[3] * np.sin(x[6]) * d_beta * np.tan(x[2]) - + x[3] * np.cos(x[6]) * u[0] / np.cos(x[2]) ** 2 - ) - ) + d_beta = (lr * u[0]) / (lwb * np.cos(x[2]) ** 2 * (1 + (np.tan(x[2]) ** 2 * lr / lwb) ** 2)) + dd_psi = 1 / lwb * (u[1] * np.cos(x[6]) * np.tan(x[2]) - + x[3] * np.sin(x[6]) * d_beta * np.tan(x[2]) + + x[3] * np.cos(x[6]) * u[0] / np.cos(x[2]) ** 2) + # f.append(dd_psi) # 6 f[5] = dd_psi else: - f[0] = np.cos(beta + x[4]) * vel - f[1] = np.sin(beta + x[4]) * vel - f[2] = u[0] - f[3] = 1 / params["m"] * sumX + x[5] * x[10] - f[4] = x[5] - f[5] = ( - 1 - / (params["I_z"] - (params["I_xz_s"]) ** 2 / params["I_Phi_s"]) - * (sumN + params["I_xz_s"] / params["I_Phi_s"] * sumL) - ) + f[0] = np.cos(beta + x[4])*vel # 1 + f[1] = np.sin(beta + x[4])*vel # 2 + f[2] = u[0] # 3 + f[3] = 1/m*sumX + x[5]*x[10] # 4 + f[4] = x[5] # 5 + f[5] = 1/(I_z - (I_xz_s)**2/I_Phi_s)*(sumN + I_xz_s/I_Phi_s*sumL) # 6 + # remaining sprung mass dynamics - f[6] = x[7] - f[7] = ( - 1 - / (params["I_Phi_s"] - (params["I_xz_s"]) ** 2 / params["I_z"]) - * (params["I_xz_s"] / params["I_z"] * sumN + sumL) - ) - f[8] = x[9] - f[9] = 1 / params["I_y_s"] * sumM_s - f[10] = 1 / params["m_s"] * sumY_s - x[5] * x[3] - f[11] = x[12] - f[12] = g - 1 / params["m_s"] * sumZ_s - - # unsprung mass dynamics (front) - f[13] = x[14] - f[14] = 1 / params["I_uf"] * sumL_uf - f[15] = 1 / params["m_uf"] * sumY_uf - x[5] * x[3] - f[16] = x[17] - f[17] = g - 1 / params["m_uf"] * sumZ_uf - - # unsprung mass dynamics (rear) - f[18] = x[19] - f[19] = 1 / params["I_ur"] * sumL_ur - f[20] = 1 / params["m_ur"] * sumY_ur - x[5] * x[3] - f[21] = x[22] - f[22] = g - 1 / params["m_ur"] * sumZ_ur + f[6] = x[7] # 7 + f[7] = 1/(I_Phi_s - (I_xz_s)**2/I_z)*(I_xz_s/I_z*sumN + sumL) # 8 + f[8] = x[9] # 9 + f[9] = 1/I_y_s*sumM_s # 10 + f[10] = 1/m_s*sumY_s - x[5]*x[3] # 11 + f[11] = x[12] # 12 + f[12] = g - 1/m_s*sumZ_s # 13 + + #unsprung mass dynamics (front) + f[13] = x[14] # 14 + f[14] = 1/I_uf*sumL_uf # 15 + f[15] = 1/m_uf*sumY_uf - x[5]*x[3] # 16 + f[16] = x[17] # 17 + f[17] = g - 1/m_uf*sumZ_uf # 18 + + #unsprung mass dynamics (rear) + f[18] = x[19] # 19 + f[19] = 1/I_ur*sumL_ur # 20 + f[20] = 1/m_ur*sumY_ur - x[5]*x[3] # 21 + f[21] = x[22] # 22 + f[22] = g - 1/m_ur*sumZ_ur # 23 # convert acceleration input to brake and engine torque if u[1] > 0: T_B = 0.0 - T_E = params["m"] * params["R_w"] * u[1] + T_E = m * R_w * u[1] else: - T_B = params["m"] * params["R_w"] * u[1] + T_B = m * R_w * u[1] T_E = 0.0 - # wheel dynamics (T new parameter for torque splitting) + #wheel dynamics (p.T new parameter for torque splitting) - splitting for brake/drive torque is outside of the integration f[23] = ( 1 - / params["I_y_w"] + / I_y_w * ( - -params["R_w"] * F_x_LF - + 0.5 * params["T_sb"] * T_B - + 0.5 * params["T_se"] * T_E + -R_w * F_x_LF + + 0.5 * T_sb * T_B + + 0.5 * T_se * T_E ) ) f[24] = ( 1 - / params["I_y_w"] + / I_y_w * ( - -params["R_w"] * F_x_RF - + 0.5 * params["T_sb"] * T_B - + 0.5 * params["T_se"] * T_E + -R_w * F_x_RF + + 0.5 * T_sb * T_B + + 0.5 * T_se * T_E ) ) f[25] = ( 1 - / params["I_y_w"] + / I_y_w * ( - -params["R_w"] * F_x_LR - + 0.5 * (1 - params["T_sb"]) * T_B - + 0.5 * (1 - params["T_se"]) * T_E + -R_w * F_x_LR + + 0.5 * (1 - T_sb) * T_B + + 0.5 * (1 - T_se) * T_E ) ) f[26] = ( 1 - / params["I_y_w"] + / I_y_w * ( - -params["R_w"] * F_x_RR - + 0.5 * (1 - params["T_sb"]) * T_B - + 0.5 * (1 - params["T_se"]) * T_E + -R_w * F_x_RR + + 0.5 * (1 - T_sb) * T_B + + 0.5 * (1 - T_se) * T_E ) ) - # negative wheel spin forbidden + #negative wheel spin forbidden handeled outside of this function for iState in range(23, 27): if x[iState] < 0.0: x[iState] = 0.0 f[iState] = 0.0 - # compliant joint equations - f[27] = dot_delta_y_f - f[28] = dot_delta_y_r - + #compliant joint equations + f[27] = dot_delta_y_f # 28 + f[28] = dot_delta_y_r # 29 + + # longitudinal slip + # s_lf + # s_rf + # s_lr + # s_rr + + # lateral slip + # alpha_LF + # alpha_RF + # alpha_LR + # alpha_RR + + # return f, F_x_LF, F_x_RF, F_x_LR, F_x_RR, F_y_LF, F_y_RF, F_y_LR, F_y_RR, \ + # s_lf, s_rf, s_lr, s_rr, alpha_LF, alpha_RF, alpha_LR, alpha_RR, \ + # F_z_LF, F_z_RF, F_z_LR, F_z_RR return f - @njit(cache=True) -def get_standardized_state_mb(x: np.ndarray) -> dict: - """[X,Y,DELTA,V_X, V_Y,YAW,YAW_RATE,SLIP]""" - d = dict() - d["x"] = x[0] - d["y"] = x[1] - d["delta"] = x[2] - d["v_x"] = x[3] - d["v_y"] = x[10] - d["yaw"] = x[4] - d["yaw_rate"] = x[5] - d["slip"] = np.arctan2(x[10], x[3]) - return d +def get_standardized_state_mb(x: np.ndarray) -> np.ndarray: + """[X,Y,Steering_Angle,Speed,YAW,YAW_RATE,V_Y]""" + return np.array([x[0], x[1], x[2], np.sqrt(x[3] ** 2 + x[10] ** 2), x[4], x[5], np.arctan2(x[10], x[3])]) diff --git a/f1tenth_gym/envs/dynamic_models/multi_body/tire_model.py b/f1tenth_gym/envs/dynamic_models/multi_body/tire_model.py index 6fc6f704..e18d38a1 100644 --- a/f1tenth_gym/envs/dynamic_models/multi_body/tire_model.py +++ b/f1tenth_gym/envs/dynamic_models/multi_body/tire_model.py @@ -1,17 +1,33 @@ +# Copyright 2020 Technical University of Munich, Professorship of Cyber-Physical Systems, Matthew O'Kelly, Aman Sinha, Hongrui Zheng + +# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + + import numpy as np from numba import njit # longitudinal tire forces -def formula_longitudinal(kappa, gamma, F_z, params: dict): +@njit(cache=True) +def formula_longitudinal(kappa, gamma, F_z, params): + # longitudinal coefficients - tire_p_cx1 = params["tire_p_cx1"] # Shape factor Cfx for longitudinal force - tire_p_dx1 = params["tire_p_dx1"] # Longitudinal friction Mux at Fznom - tire_p_dx3 = params["tire_p_dx3"] # Variation of friction Mux with camber - tire_p_ex1 = params["tire_p_ex1"] # Longitudinal curvature Efx at Fznom - tire_p_kx1 = params["tire_p_kx1"] # Longitudinal slip stiffness Kfx/Fz at Fznom - tire_p_hx1 = params["tire_p_hx1"] # Horizontal shift Shx at Fznom - tire_p_vx1 = params["tire_p_vx1"] # Vertical shift Svx/Fz at Fznom + tire_p_cx1 = params[46] # Shape factor Cfx for longitudinal force + tire_p_dx1 = params[47] # Longitudinal friction Mux at Fznom + tire_p_dx3 = params[48] # Variation of friction Mux with camber + tire_p_ex1 = params[49] # Longitudinal curvature Efx at Fznom + tire_p_kx1 = params[50] # Longitudinal slip stiffness Kfx/Fz at Fznom + tire_p_hx1 = params[51] # Horizontal shift Shx at Fznom + tire_p_vx1 = params[52] # Vertical shift Svx/Fz at Fznom # turn slip is neglected, so xi_i=1 # all scaling factors lambda = 1 @@ -23,7 +39,7 @@ def formula_longitudinal(kappa, gamma, F_z, params: dict): S_vx = F_z * tire_p_vx1 kappa_x = kappa + S_hx - mu_x = tire_p_dx1 * (1 - tire_p_dx3 * gamma**2) + mu_x = tire_p_dx1 * (1 - tire_p_dx3 * gamma ** 2) C_x = tire_p_cx1 D_x = mu_x * F_z @@ -32,25 +48,23 @@ def formula_longitudinal(kappa, gamma, F_z, params: dict): B_x = K_x / (C_x * D_x) # magic tire formula - return D_x * np.sin( - C_x - * np.arctan(B_x * kappa_x - E_x * (B_x * kappa_x - np.arctan(B_x * kappa_x))) - + S_vx - ) + return D_x * np.sin(C_x * np.arctan(B_x * kappa_x - E_x * (B_x * kappa_x - np.arctan(B_x * kappa_x))) + S_vx) # lateral tire forces -def formula_lateral(alpha, gamma, F_z, params: dict): +@njit(cache=True) +def formula_lateral(alpha, gamma, F_z, params): + # lateral coefficients - tire_p_cy1 = params["tire_p_cy1"] # Shape factor Cfy for lateral forces - tire_p_dy1 = params["tire_p_dy1"] # Lateral friction Muy - tire_p_dy3 = params["tire_p_dy3"] # Variation of friction Muy with squared camber - tire_p_ey1 = params["tire_p_ey1"] # Lateral curvature Efy at Fznom - tire_p_ky1 = params["tire_p_ky1"] # Maximum value of stiffness Kfy/Fznom - tire_p_hy1 = params["tire_p_hy1"] # Horizontal shift Shy at Fznom - tire_p_hy3 = params["tire_p_hy3"] # Variation of shift Shy with camber - tire_p_vy1 = params["tire_p_vy1"] # Vertical shift in Svy/Fz at Fznom - tire_p_vy3 = params["tire_p_vy3"] # Variation of shift Svy/Fz with camber + tire_p_cy1 = params[58] # Shape factor Cfy for lateral forces + tire_p_dy1 = params[59] # Lateral friction Muy + tire_p_dy3 = params[60] # Variation of friction Muy with squared camber + tire_p_ey1 = params[61] # Lateral curvature Efy at Fznom + tire_p_ky1 = params[62] # Maximum value of stiffness Kfy/Fznom + tire_p_hy1 = params[63] # Horizontal shift Shy at Fznom + tire_p_hy3 = params[64] # Variation of shift Shy with camber + tire_p_vy1 = params[65] # Vertical shift in Svy/Fz at Fznom + tire_p_vy3 = params[66] # Variation of shift Svy/Fz with camber # turn slip is neglected, so xi_i=1 # all scaling factors lambda = 1 @@ -62,7 +76,7 @@ def formula_lateral(alpha, gamma, F_z, params: dict): S_vy = np.sign(gamma) * F_z * (tire_p_vy1 + tire_p_vy3 * np.fabs(gamma)) alpha_y = alpha + S_hy - mu_y = tire_p_dy1 * (1 - tire_p_dy3 * gamma**2) + mu_y = tire_p_dy1 * (1 - tire_p_dy3 * gamma ** 2) C_y = tire_p_cy1 D_y = mu_y * F_z @@ -71,16 +85,7 @@ def formula_lateral(alpha, gamma, F_z, params: dict): B_y = K_y / (C_y * D_y) # magic tire formula - F_y = ( - D_y - * np.sin( - C_y - * np.arctan( - B_y * alpha_y - E_y * (B_y * alpha_y - np.arctan(B_y * alpha_y)) - ) - ) - + S_vy - ) + F_y = D_y * np.sin(C_y * np.arctan(B_y * alpha_y - E_y * (B_y * alpha_y - np.arctan(B_y * alpha_y)))) + S_vy res = [] res.append(F_y) @@ -89,15 +94,17 @@ def formula_lateral(alpha, gamma, F_z, params: dict): # longitudinal tire forces for combined slip -def formula_longitudinal_comb(kappa, alpha, F0_x, params: dict): +@njit(cache=True) +def formula_longitudinal_comb(kappa, alpha, F0_x, params): + # longitudinal coefficients - tire_r_bx1 = params["tire_r_bx1"] # Slope factor for combined slip Fx reduction - tire_r_bx2 = params["tire_r_bx2"] # Variation of slope Fx reduction with kappa - tire_r_cx1 = params["tire_r_cx1"] # Shape factor for combined slip Fx reduction - tire_r_ex1 = params["tire_r_ex1"] # Curvature factor of combined Fx - tire_r_hx1 = params["tire_r_hx1"] # Shift factor for combined slip Fx reduction + tire_r_bx1 = params[53] # Slope factor for combined slip Fx reduction + tire_r_bx2 = params[54] # Variation of slope Fx reduction with kappa + tire_r_cx1 = params[55] # Shape factor for combined slip Fx reduction + tire_r_ex1 = params[56] # Curvature factor of combined Fx + tire_r_hx1 = params[57] # Shift factor for combined slip Fx reduction - # turn slip '' neglected, so xi_i=1 + # turn slip is neglected, so xi_i=1 # all scaling factors lambda = 1 S_hxalpha = tire_r_hx1 @@ -107,40 +114,30 @@ def formula_longitudinal_comb(kappa, alpha, F0_x, params: dict): B_xalpha = tire_r_bx1 * np.cos(np.arctan(tire_r_bx2 * kappa)) C_xalpha = tire_r_cx1 E_xalpha = tire_r_ex1 - D_xalpha = F0_x / ( - np.cos( - C_xalpha - * np.arctan( - B_xalpha * S_hxalpha - - E_xalpha * (B_xalpha * S_hxalpha - np.arctan(B_xalpha * S_hxalpha)) - ) - ) - ) + D_xalpha = F0_x / (np.cos(C_xalpha * np.arctan( + B_xalpha * S_hxalpha - E_xalpha * (B_xalpha * S_hxalpha - np.arctan(B_xalpha * S_hxalpha))))) # magic tire formula return D_xalpha * np.cos( - C_xalpha - * np.arctan( - B_xalpha * alpha_s - - E_xalpha * (B_xalpha * alpha_s - np.arctan(B_xalpha * alpha_s)) - ) - ) + C_xalpha * np.arctan(B_xalpha * alpha_s - E_xalpha * (B_xalpha * alpha_s - np.arctan(B_xalpha * alpha_s)))) # lateral tire forces for combined slip -def formula_lateral_comb(kappa, alpha, gamma, mu_y, F_z, F0_y, params: dict): +@njit(cache=True) +def formula_lateral_comb(kappa, alpha, gamma, mu_y, F_z, F0_y, params): + # lateral coefficients - tire_r_by1 = params["tire_r_by1"] # Slope factor for combined Fy reduction - tire_r_by2 = params["tire_r_by2"] # Variation of slope Fy reduction with alpha - tire_r_by3 = params["tire_r_by3"] # Shift term for alpha in slope Fy reduction - tire_r_cy1 = params["tire_r_cy1"] # Shape factor for combined Fy reduction - tire_r_ey1 = params["tire_r_ey1"] # Curvature factor of combined Fy - tire_r_hy1 = params["tire_r_hy1"] # Shift factor for combined Fy reduction - tire_r_vy1 = params["tire_r_vy1"] # Kappa induced side force Svyk/Muy*Fz at Fznom - tire_r_vy3 = params["tire_r_vy3"] # Variation of Svyk/Muy*Fz with camber - tire_r_vy4 = params["tire_r_vy4"] # Variation of Svyk/Muy*Fz with alpha - tire_r_vy5 = params["tire_r_vy5"] # Variation of Svyk/Muy*Fz with kappa - tire_r_vy6 = params["tire_r_vy6"] # Variation of Svyk/Muy*Fz with atan(kappa) + tire_r_by1 = params[67] # Slope factor for combined Fy reduction + tire_r_by2 = params[68] # Variation of slope Fy reduction with alpha + tire_r_by3 = params[69] # Shift term for alpha in slope Fy reduction + tire_r_cy1 = params[70] # Shape factor for combined Fy reduction + tire_r_ey1 = params[71] # Curvature factor of combined Fy + tire_r_hy1 = params[72] # Shift factor for combined Fy reduction + tire_r_vy1 = params[73] # Kappa induced side force Svyk/Muy*Fz at Fznom + tire_r_vy3 = params[74] # Variation of Svyk/Muy*Fz with camber + tire_r_vy4 = params[75] # Variation of Svyk/Muy*Fz with alpha + tire_r_vy5 = params[76] # Variation of Svyk/Muy*Fz with kappa + tire_r_vy6 = params[77] # Variation of Svyk/Muy*Fz with atan(kappa) # turn slip is neglected, so xi_i=1 # all scaling factors lambda = 1 @@ -152,33 +149,12 @@ def formula_lateral_comb(kappa, alpha, gamma, mu_y, F_z, F0_y, params: dict): B_ykappa = tire_r_by1 * np.cos(np.arctan(tire_r_by2 * (alpha - tire_r_by3))) C_ykappa = tire_r_cy1 E_ykappa = tire_r_ey1 - D_ykappa = F0_y / ( - np.cos( - C_ykappa - * np.arctan( - B_ykappa * S_hykappa - - E_ykappa * (B_ykappa * S_hykappa - np.arctan(B_ykappa * S_hykappa)) - ) - ) - ) - - D_vykappa = ( - mu_y - * F_z - * (tire_r_vy1 + tire_r_vy3 * gamma) - * np.cos(np.arctan(tire_r_vy4 * alpha)) - ) + D_ykappa = F0_y / (np.cos(C_ykappa * np.arctan( + B_ykappa * S_hykappa - E_ykappa * (B_ykappa * S_hykappa - np.arctan(B_ykappa * S_hykappa))))) + + D_vykappa = mu_y * F_z * (tire_r_vy1 + tire_r_vy3 * gamma) * np.cos(np.arctan(tire_r_vy4 * alpha)) S_vykappa = D_vykappa * np.sin(tire_r_vy5 * np.arctan(tire_r_vy6 * kappa)) # magic tire formula - return ( - D_ykappa - * np.cos( - C_ykappa - * np.arctan( - B_ykappa * kappa_s - - E_ykappa * (B_ykappa * kappa_s - np.arctan(B_ykappa * kappa_s)) - ) - ) - + S_vykappa - ) + return D_ykappa * np.cos(C_ykappa * np.arctan( + B_ykappa * kappa_s - E_ykappa * (B_ykappa * kappa_s - np.arctan(B_ykappa * kappa_s)))) + S_vykappa diff --git a/f1tenth_gym/envs/dynamic_models/multi_body/tire_model_new.py b/f1tenth_gym/envs/dynamic_models/multi_body/tire_model_new.py new file mode 100644 index 00000000..6fc6f704 --- /dev/null +++ b/f1tenth_gym/envs/dynamic_models/multi_body/tire_model_new.py @@ -0,0 +1,184 @@ +import numpy as np +from numba import njit + + +# longitudinal tire forces +def formula_longitudinal(kappa, gamma, F_z, params: dict): + # longitudinal coefficients + tire_p_cx1 = params["tire_p_cx1"] # Shape factor Cfx for longitudinal force + tire_p_dx1 = params["tire_p_dx1"] # Longitudinal friction Mux at Fznom + tire_p_dx3 = params["tire_p_dx3"] # Variation of friction Mux with camber + tire_p_ex1 = params["tire_p_ex1"] # Longitudinal curvature Efx at Fznom + tire_p_kx1 = params["tire_p_kx1"] # Longitudinal slip stiffness Kfx/Fz at Fznom + tire_p_hx1 = params["tire_p_hx1"] # Horizontal shift Shx at Fznom + tire_p_vx1 = params["tire_p_vx1"] # Vertical shift Svx/Fz at Fznom + + # turn slip is neglected, so xi_i=1 + # all scaling factors lambda = 1 + + # coordinate system transformation + kappa = -kappa + + S_hx = tire_p_hx1 + S_vx = F_z * tire_p_vx1 + + kappa_x = kappa + S_hx + mu_x = tire_p_dx1 * (1 - tire_p_dx3 * gamma**2) + + C_x = tire_p_cx1 + D_x = mu_x * F_z + E_x = tire_p_ex1 + K_x = F_z * tire_p_kx1 + B_x = K_x / (C_x * D_x) + + # magic tire formula + return D_x * np.sin( + C_x + * np.arctan(B_x * kappa_x - E_x * (B_x * kappa_x - np.arctan(B_x * kappa_x))) + + S_vx + ) + + +# lateral tire forces +def formula_lateral(alpha, gamma, F_z, params: dict): + # lateral coefficients + tire_p_cy1 = params["tire_p_cy1"] # Shape factor Cfy for lateral forces + tire_p_dy1 = params["tire_p_dy1"] # Lateral friction Muy + tire_p_dy3 = params["tire_p_dy3"] # Variation of friction Muy with squared camber + tire_p_ey1 = params["tire_p_ey1"] # Lateral curvature Efy at Fznom + tire_p_ky1 = params["tire_p_ky1"] # Maximum value of stiffness Kfy/Fznom + tire_p_hy1 = params["tire_p_hy1"] # Horizontal shift Shy at Fznom + tire_p_hy3 = params["tire_p_hy3"] # Variation of shift Shy with camber + tire_p_vy1 = params["tire_p_vy1"] # Vertical shift in Svy/Fz at Fznom + tire_p_vy3 = params["tire_p_vy3"] # Variation of shift Svy/Fz with camber + + # turn slip is neglected, so xi_i=1 + # all scaling factors lambda = 1 + + # coordinate system transformation + # alpha = -alpha + + S_hy = np.sign(gamma) * (tire_p_hy1 + tire_p_hy3 * np.fabs(gamma)) + S_vy = np.sign(gamma) * F_z * (tire_p_vy1 + tire_p_vy3 * np.fabs(gamma)) + + alpha_y = alpha + S_hy + mu_y = tire_p_dy1 * (1 - tire_p_dy3 * gamma**2) + + C_y = tire_p_cy1 + D_y = mu_y * F_z + E_y = tire_p_ey1 + K_y = F_z * tire_p_ky1 # simplify K_y0 to tire_p_ky1*F_z + B_y = K_y / (C_y * D_y) + + # magic tire formula + F_y = ( + D_y + * np.sin( + C_y + * np.arctan( + B_y * alpha_y - E_y * (B_y * alpha_y - np.arctan(B_y * alpha_y)) + ) + ) + + S_vy + ) + + res = [] + res.append(F_y) + res.append(mu_y) + return res + + +# longitudinal tire forces for combined slip +def formula_longitudinal_comb(kappa, alpha, F0_x, params: dict): + # longitudinal coefficients + tire_r_bx1 = params["tire_r_bx1"] # Slope factor for combined slip Fx reduction + tire_r_bx2 = params["tire_r_bx2"] # Variation of slope Fx reduction with kappa + tire_r_cx1 = params["tire_r_cx1"] # Shape factor for combined slip Fx reduction + tire_r_ex1 = params["tire_r_ex1"] # Curvature factor of combined Fx + tire_r_hx1 = params["tire_r_hx1"] # Shift factor for combined slip Fx reduction + + # turn slip '' neglected, so xi_i=1 + # all scaling factors lambda = 1 + + S_hxalpha = tire_r_hx1 + + alpha_s = alpha + S_hxalpha + + B_xalpha = tire_r_bx1 * np.cos(np.arctan(tire_r_bx2 * kappa)) + C_xalpha = tire_r_cx1 + E_xalpha = tire_r_ex1 + D_xalpha = F0_x / ( + np.cos( + C_xalpha + * np.arctan( + B_xalpha * S_hxalpha + - E_xalpha * (B_xalpha * S_hxalpha - np.arctan(B_xalpha * S_hxalpha)) + ) + ) + ) + + # magic tire formula + return D_xalpha * np.cos( + C_xalpha + * np.arctan( + B_xalpha * alpha_s + - E_xalpha * (B_xalpha * alpha_s - np.arctan(B_xalpha * alpha_s)) + ) + ) + + +# lateral tire forces for combined slip +def formula_lateral_comb(kappa, alpha, gamma, mu_y, F_z, F0_y, params: dict): + # lateral coefficients + tire_r_by1 = params["tire_r_by1"] # Slope factor for combined Fy reduction + tire_r_by2 = params["tire_r_by2"] # Variation of slope Fy reduction with alpha + tire_r_by3 = params["tire_r_by3"] # Shift term for alpha in slope Fy reduction + tire_r_cy1 = params["tire_r_cy1"] # Shape factor for combined Fy reduction + tire_r_ey1 = params["tire_r_ey1"] # Curvature factor of combined Fy + tire_r_hy1 = params["tire_r_hy1"] # Shift factor for combined Fy reduction + tire_r_vy1 = params["tire_r_vy1"] # Kappa induced side force Svyk/Muy*Fz at Fznom + tire_r_vy3 = params["tire_r_vy3"] # Variation of Svyk/Muy*Fz with camber + tire_r_vy4 = params["tire_r_vy4"] # Variation of Svyk/Muy*Fz with alpha + tire_r_vy5 = params["tire_r_vy5"] # Variation of Svyk/Muy*Fz with kappa + tire_r_vy6 = params["tire_r_vy6"] # Variation of Svyk/Muy*Fz with atan(kappa) + + # turn slip is neglected, so xi_i=1 + # all scaling factors lambda = 1 + + S_hykappa = tire_r_hy1 + + kappa_s = kappa + S_hykappa + + B_ykappa = tire_r_by1 * np.cos(np.arctan(tire_r_by2 * (alpha - tire_r_by3))) + C_ykappa = tire_r_cy1 + E_ykappa = tire_r_ey1 + D_ykappa = F0_y / ( + np.cos( + C_ykappa + * np.arctan( + B_ykappa * S_hykappa + - E_ykappa * (B_ykappa * S_hykappa - np.arctan(B_ykappa * S_hykappa)) + ) + ) + ) + + D_vykappa = ( + mu_y + * F_z + * (tire_r_vy1 + tire_r_vy3 * gamma) + * np.cos(np.arctan(tire_r_vy4 * alpha)) + ) + S_vykappa = D_vykappa * np.sin(tire_r_vy5 * np.arctan(tire_r_vy6 * kappa)) + + # magic tire formula + return ( + D_ykappa + * np.cos( + C_ykappa + * np.arctan( + B_ykappa * kappa_s + - E_ykappa * (B_ykappa * kappa_s - np.arctan(B_ykappa * kappa_s)) + ) + ) + + S_vykappa + ) diff --git a/f1tenth_gym/envs/dynamic_models/single_track.py b/f1tenth_gym/envs/dynamic_models/single_track.py index eea349f1..6bbe2308 100644 --- a/f1tenth_gym/envs/dynamic_models/single_track.py +++ b/f1tenth_gym/envs/dynamic_models/single_track.py @@ -1,48 +1,179 @@ import numpy as np from numba import njit -from numba.typed import Dict from .utils import steering_constraint, accl_constraints +# @njit() +# def vehicle_dynamics_st(x: np.ndarray, u_init: np.ndarray, params: dict): +# """ +# Single Track Vehicle Dynamics. +# From https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 7 -def vehicle_dynamics_st(x: np.ndarray, u_init: np.ndarray, params: dict): - """ - Single Track Vehicle Dynamics. - From https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 7 +# Args: +# x (numpy.ndarray (7, )): vehicle state vector (x0, x1, x2, x3, x4, x5, x6) +# x0: x position in global coordinates +# x1: y position in global coordinates +# x2: steering angle of front wheels +# x3: velocity in x direction +# x4: yaw angle +# x5: yaw rate +# x6: slip angle at vehicle center +# u (numpy.ndarray (2, )): control input vector (u1, u2) +# u1: steering angle velocity of front wheels +# u2: longitudinal acceleration +# params (dict): dictionary containing the following parameters: +# mu (float): friction coefficient +# C_Sf (float): cornering stiffness of front wheels +# C_Sr (float): cornering stiffness of rear wheels +# lf (float): distance from center of gravity to front axle +# lr (float): distance from center of gravity to rear axle +# h (float): height of center of gravity +# m (float): mass of vehicle +# I (float): moment of inertia of vehicle, about Z axis +# s_min (float): minimum steering angle +# s_max (float): maximum steering angle +# sv_min (float): minimum steering velocity +# sv_max (float): maximum steering velocity +# v_switch (float): velocity above which the acceleration is no longer able to create wheel spin +# a_max (float): maximum allowed acceleration +# v_min (float): minimum allowed velocity +# v_max (float): maximum allowed velocity - Args: - x (numpy.ndarray (7, )): vehicle state vector (x0, x1, x2, x3, x4, x5, x6) - x0: x position in global coordinates - x1: y position in global coordinates - x2: steering angle of front wheels - x3: velocity in x direction - x4: yaw angle - x5: yaw rate - x6: slip angle at vehicle center - u (numpy.ndarray (2, )): control input vector (u1, u2) - u1: steering angle velocity of front wheels - u2: longitudinal acceleration - params (dict): dictionary containing the following parameters: - mu (float): friction coefficient - C_Sf (float): cornering stiffness of front wheels - C_Sr (float): cornering stiffness of rear wheels - lf (float): distance from center of gravity to front axle - lr (float): distance from center of gravity to rear axle - h (float): height of center of gravity - m (float): mass of vehicle - I (float): moment of inertia of vehicle, about Z axis - s_min (float): minimum steering angle - s_max (float): maximum steering angle - sv_min (float): minimum steering velocity - sv_max (float): maximum steering velocity - v_switch (float): velocity above which the acceleration is no longer able to create wheel spin - a_max (float): maximum allowed acceleration - v_min (float): minimum allowed velocity - v_max (float): maximum allowed velocity +# Returns: +# f (numpy.ndarray): right hand side of differential equations +# """ +# # States +# X = x[0] +# Y = x[1] +# DELTA = x[2] +# V = x[3] +# PSI = x[4] +# PSI_DOT = x[5] +# BETA = x[6] +# # We have to wrap the slip angle to [-pi, pi] +# # BETA = np.arctan2(np.sin(BETA), np.cos(BETA)) - Returns: - f (numpy.ndarray): right hand side of differential equations - """ +# # gravity constant m/s^2 +# g = 9.81 + +# # constraints +# u = np.array( +# [ +# steering_constraint( +# DELTA, +# u_init[0], +# params["s_min"], +# params["s_max"], +# params["sv_min"], +# params["sv_max"], +# ), +# accl_constraints( +# V, +# u_init[1], +# params["v_switch"], +# params["a_max"], +# params["v_min"], +# params["v_max"], +# ), +# ] +# ) +# # Controls +# STEER_VEL = u[0] +# ACCL = u[1] + +# # switch to kinematic model for small velocities +# if V < 0.5: +# # wheelbase +# lwb = params["lf"] + params["lr"] +# BETA_HAT = np.arctan(np.tan(DELTA) * params["lr"] / lwb) +# BETA_DOT = ( +# (1 / (1 + (np.tan(DELTA) * (params["lr"] / lwb)) ** 2)) +# * (params["lr"] / (lwb * np.cos(DELTA) ** 2)) +# * STEER_VEL +# ) +# f = np.array( +# [ +# V * np.cos(PSI + BETA_HAT), # X_DOT +# V * np.sin(PSI + BETA_HAT), # Y_DOT +# STEER_VEL, # DELTA_DOT +# ACCL, # V_DOT +# V * np.cos(BETA_HAT) * np.tan(DELTA) / lwb, # PSI_DOT +# (1 / lwb) +# * ( +# ACCL * np.cos(BETA) * np.tan(DELTA) +# - V * np.sin(BETA) * np.tan(DELTA) * BETA_DOT +# + ((V * np.cos(BETA) * STEER_VEL) / (np.cos(DELTA) ** 2)) +# ), # PSI_DOT_DOT +# BETA_DOT, # BETA_DOT +# ] +# ) +# else: +# # system dynamics +# glr = g * params["lr"] - ACCL * params["h"] +# glf = g * params["lf"] + ACCL * params["h"] +# f = np.array( +# [ +# V * np.cos(PSI + BETA), # X_DOT +# V * np.sin(PSI + BETA), # Y_DOT +# STEER_VEL, # DELTA_DOT +# ACCL, # V_DOT +# PSI_DOT, # PSI_DOT +# ( +# (params["mu"] * params["m"]) +# / (params["I"] * (params["lf"] + params["lr"])) +# ) +# * ( +# params["lf"] * params["C_Sf"] * (glr) * DELTA +# + ( +# params["lr"] * params["C_Sr"] * (glf) +# - params["lf"] * params["C_Sf"] * (glr) +# ) +# * BETA +# - ( +# params["lf"] * params["lf"] * params["C_Sf"] * (glr) +# + params["lr"] * params["lr"] * params["C_Sr"] * (glf) +# ) +# * (PSI_DOT / V) +# ), # PSI_DOT_DOT +# (params["mu"] / (V * (params["lr"] + params["lf"]))) +# * ( +# params["C_Sf"] * (glr) * DELTA +# - (params["C_Sr"] * (glf) + params["C_Sf"] * (glr)) * BETA +# + ( +# params["C_Sr"] * (glf) * params["lr"] +# - params["C_Sf"] * (glr) * params["lf"] +# ) +# * (PSI_DOT / V) +# ) +# - PSI_DOT, # BETA_DOT +# ] +# ) + +# return f + +@njit(cache=True) +def vehicle_dynamics_st( + x: np.ndarray, + u_init: np.ndarray, + mu: float, + C_Sf: float, + C_Sr: float, + lf: float, + lr: float, + h: float, + m: float, + I: float, + s_min: float, + s_max: float, + sv_min: float, + sv_max: float, + v_switch: float, + a_max: float, + v_min: float, + v_max: float, + width: float, + length: float +) -> np.ndarray: # States X = x[0] Y = x[1] @@ -51,118 +182,61 @@ def vehicle_dynamics_st(x: np.ndarray, u_init: np.ndarray, params: dict): PSI = x[4] PSI_DOT = x[5] BETA = x[6] - # We have to wrap the slip angle to [-pi, pi] - # BETA = np.arctan2(np.sin(BETA), np.cos(BETA)) - # gravity constant m/s^2 - g = 9.81 + g = 9.81 # gravity constant - # constraints - u = np.array( - [ - steering_constraint( - DELTA, - u_init[0], - params["s_min"], - params["s_max"], - params["sv_min"], - params["sv_max"], - ), - accl_constraints( - V, - u_init[1], - params["v_switch"], - params["a_max"], - params["v_min"], - params["v_max"], - ), - ] - ) - # Controls + u = [ + steering_constraint(DELTA, u_init[0], s_min, s_max, sv_min, sv_max), + accl_constraints(V, u_init[1], v_switch, a_max, v_min, v_max) + ] STEER_VEL = u[0] ACCL = u[1] - # switch to kinematic model for small velocities if V < 0.5: - # wheelbase - lwb = params["lf"] + params["lr"] - BETA_HAT = np.arctan(np.tan(DELTA) * params["lr"] / lwb) + lwb = lf + lr + BETA_HAT = np.arctan(np.tan(DELTA) * lr / lwb) BETA_DOT = ( - (1 / (1 + (np.tan(DELTA) * (params["lr"] / lwb)) ** 2)) - * (params["lr"] / (lwb * np.cos(DELTA) ** 2)) + (1 / (1 + (np.tan(DELTA) * (lr / lwb)) ** 2)) + * (lr / (lwb * np.cos(DELTA) ** 2)) * STEER_VEL ) - f = np.array( - [ - V * np.cos(PSI + BETA_HAT), # X_DOT - V * np.sin(PSI + BETA_HAT), # Y_DOT - STEER_VEL, # DELTA_DOT - ACCL, # V_DOT - V * np.cos(BETA_HAT) * np.tan(DELTA) / lwb, # PSI_DOT - (1 / lwb) - * ( - ACCL * np.cos(BETA) * np.tan(DELTA) - - V * np.sin(BETA) * np.tan(DELTA) * BETA_DOT - + ((V * np.cos(BETA) * STEER_VEL) / (np.cos(DELTA) ** 2)) - ), # PSI_DOT_DOT - BETA_DOT, # BETA_DOT - ] - ) + f = np.asarray([ + V * np.cos(PSI + BETA_HAT), + V * np.sin(PSI + BETA_HAT), + STEER_VEL, + ACCL, + V * np.cos(BETA_HAT) * np.tan(DELTA) / lwb, + (1 / lwb) * ( + ACCL * np.cos(BETA) * np.tan(DELTA) + - V * np.sin(BETA) * np.tan(DELTA) * BETA_DOT + + (V * np.cos(BETA) * STEER_VEL) / (np.cos(DELTA) ** 2) + ), + BETA_DOT + ]) else: - # system dynamics - glr = g * params["lr"] - ACCL * params["h"] - glf = g * params["lf"] + ACCL * params["h"] - f = np.array( - [ - V * np.cos(PSI + BETA), # X_DOT - V * np.sin(PSI + BETA), # Y_DOT - STEER_VEL, # DELTA_DOT - ACCL, # V_DOT - PSI_DOT, # PSI_DOT - ( - (params["mu"] * params["m"]) - / (params["I"] * (params["lf"] + params["lr"])) - ) - * ( - params["lf"] * params["C_Sf"] * (glr) * DELTA - + ( - params["lr"] * params["C_Sr"] * (glf) - - params["lf"] * params["C_Sf"] * (glr) - ) - * BETA - - ( - params["lf"] * params["lf"] * params["C_Sf"] * (glr) - + params["lr"] * params["lr"] * params["C_Sr"] * (glf) - ) - * (PSI_DOT / V) - ), # PSI_DOT_DOT - (params["mu"] / (V * (params["lr"] + params["lf"]))) - * ( - params["C_Sf"] * (glr) * DELTA - - (params["C_Sr"] * (glf) + params["C_Sf"] * (glr)) * BETA - + ( - params["C_Sr"] * (glf) * params["lr"] - - params["C_Sf"] * (glr) * params["lf"] - ) - * (PSI_DOT / V) - ) - - PSI_DOT, # BETA_DOT - ] - ) - + glr = g * lr - ACCL * h + glf = g * lf + ACCL * h + f = np.asarray([ + V * np.cos(PSI + BETA), + V * np.sin(PSI + BETA), + STEER_VEL, + ACCL, + PSI_DOT, + (mu * m / (I * (lf + lr))) * ( + lf * C_Sf * glr * DELTA + + (lr * C_Sr * glf - lf * C_Sf * glr) * BETA + - (lf**2 * C_Sf * glr + lr**2 * C_Sr * glf) * (PSI_DOT / V) + ), + (mu / (V * (lr + lf))) * ( + C_Sf * glr * DELTA + - (C_Sr * glf + C_Sf * glr) * BETA + + (C_Sr * glf * lr - C_Sf * glr * lf) * (PSI_DOT / V) + ) - PSI_DOT + ]) return f @njit(cache=True) -def get_standardized_state_st(x: np.ndarray) -> dict: - """[X,Y,DELTA,V_X, V_Y,YAW,YAW_RATE,SLIP]""" - d = dict() - d["x"] = x[0] - d["y"] = x[1] - d["delta"] = x[2] - d["v_x"] = x[3] * np.cos(x[6]) - d["v_y"] = x[3] * np.sin(x[6]) - d["yaw"] = x[4] - d["yaw_rate"] = x[5] - d["slip"] = x[6] - return d +def get_standardized_state_st(x: np.ndarray) -> np.ndarray: + """[X,Y,Steering_Angle,Speed,YAW,YAW_RATE,V_Y]""" + return x diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py index 35cbb960..07aef22b 100644 --- a/f1tenth_gym/envs/f110_env.py +++ b/f1tenth_gym/envs/f110_env.py @@ -21,7 +21,7 @@ # SOFTWARE. """ -Author: Hongrui Zheng +Author: Hongrui Zheng, Zirui Zang """ # gym imports @@ -128,7 +128,7 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs): self.start_ys = np.zeros((self.num_agents,)) self.start_thetas = np.zeros((self.num_agents,)) self.start_rot = np.eye(2) - + # initiate stuff self.sim = Simulator( self.params, @@ -177,13 +177,14 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs): self.metadata["render_fps"] = int(1.0 / self.timestep) if self.render_mode == "human_fast": self.metadata["render_fps"] *= 10 # boost fps by 10x - self.renderer, self.render_spec = make_renderer( - params=self.params, - track=self.track, - agent_ids=self.agent_ids, - render_mode=render_mode, - render_fps=self.metadata["render_fps"], - ) + if self.config["enable_rendering"]: + self.renderer, self.render_spec = make_renderer( + params=self.params, + track=self.track, + agent_ids=self.agent_ids, + render_mode=render_mode, + render_fps=self.metadata["render_fps"], + ) @classmethod def fullscale_vehicle_params(cls) -> dict: @@ -206,7 +207,7 @@ def fullscale_vehicle_params(cls) -> dict: # maximum curvature change "kappa_dot_max": 0.4, # maximum curvature rate rate - "kappa_dot_dot_max": 20, + "kappa_dot_dot_max": 20.0, # Longitudinal constraints "v_switch": 4.755, "a_max": 11.5, @@ -276,21 +277,21 @@ def fullscale_vehicle_params(cls) -> dict: "R_w": 0.344, # split of brake and engine torque "T_sb": 0.76, - "T_se": 1, + "T_se": 1.0, # suspension parameters # [rad/m] DF "D_f": -0.6233595800524934, # [rad/m] DR "D_r": -0.20997375328083986, # [needs conversion if nonzero] EF - "E_f": 0, + "E_f": 0.0, # [needs conversion if nonzero] ER - "E_r": 0, + "E_r": 0.0, # tire parameters from ADAMS handbook # longitudinal coefficients "tire_p_cx1": 1.6411, # Shape factor Cfx for longitudinal force "tire_p_dx1": 1.1739, # Longitudinal friction Mux at Fznom - "tire_p_dx3": 0, # Variation of friction Mux with camber + "tire_p_dx3": 0.0, # Variation of friction Mux with camber "tire_p_ex1": 0.46403, # Longitudinal curvature Efx at Fznom "tire_p_kx1": 22.303, # Longitudinal slip stiffness Kfx/Fz at Fznom "tire_p_hx1": 0.0012297, # Horizontal shift Shx at Fznom @@ -399,7 +400,9 @@ def default_config(cls) -> dict: "control_input": ["speed", "steering_angle"], "observation_config": {"type": None}, "reset_config": {"type": None}, - "scale": 1.0, + "enable_rendering": True, + "enable_scan": True, + "control_delay_buffer_size": 0, } def configure(self, config: dict) -> None: @@ -500,17 +503,18 @@ def step(self, action): self._update_state() # rendering observation - self.render_obs = { - "ego_idx": self.sim.ego_idx, - "poses_x": self.sim.agent_poses[:, 0], - "poses_y": self.sim.agent_poses[:, 1], - "poses_theta": self.sim.agent_poses[:, 2], - "steering_angles": self.sim.agent_steerings, - "lap_times": self.lap_times, - "lap_counts": self.lap_counts, - "collisions": self.sim.collisions, - "sim_time": self.current_time, - } + if self.config["enable_rendering"]: + self.render_obs = { + "ego_idx": self.sim.ego_idx, + "poses_x": self.sim.agent_poses[:, 0], + "poses_y": self.sim.agent_poses[:, 1], + "poses_theta": self.sim.agent_poses[:, 2], + "steering_angles": self.sim.agent_steerings, + "lap_times": self.lap_times, + "lap_counts": self.lap_counts, + "collisions": self.sim.collisions, + "sim_time": self.current_time, + } # check done done, toggle_list = self._check_done() @@ -614,8 +618,8 @@ def add_render_callback(self, callback_func): Args: callback_func (function (EnvRenderer) -> None): custom function to called during render() """ - - self.renderer.add_renderer_callback(callback_func) + if self.config["enable_rendering"]: + self.renderer.add_renderer_callback(callback_func) def render(self, mode="human"): """ @@ -631,7 +635,7 @@ def render(self, mode="human"): """ # NOTE: separate render (manage render-mode) from render_frame (actual rendering with pyglet) - if self.render_mode not in self.metadata["render_modes"]: + if self.render_mode not in self.metadata["render_modes"] or not self.config["enable_rendering"]: return self.renderer.update(state=self.render_obs) diff --git a/f1tenth_gym/envs/integrator.py b/f1tenth_gym/envs/integrator.py index 0987fbfe..bdb5ed6d 100644 --- a/f1tenth_gym/envs/integrator.py +++ b/f1tenth_gym/envs/integrator.py @@ -1,7 +1,6 @@ from abc import abstractmethod from enum import Enum - class IntegratorType(Enum): RK4 = 1 Euler = 2 @@ -21,7 +20,7 @@ def __init__(self) -> None: self._integrator_type = None @abstractmethod - def integrate(self, f, x, u, dt, params): + def integrate(self, f, x, u, dt, *args): raise NotImplementedError("integrate method not implemented") @property @@ -34,17 +33,17 @@ def __init__(self) -> None: super().__init__() self._integrator_type = "rk4" - def integrate(self, f, x, u, dt, params): - k1 = f(x, u, params) + def integrate(self, f, x, u, dt, *args): + k1 = f(x, u, *args) k2_state = x + dt * (k1 / 2) - k2 = f(k2_state, u, params) + k2 = f(k2_state, u, *args) k3_state = x + dt * (k2 / 2) - k3 = f(k3_state, u, params) + k3 = f(k3_state, u, *args) k4_state = x + dt * k3 - k4 = f(k4_state, u, params) + k4 = f(k4_state, u, *args) # dynamics integration x = x + dt * (1 / 6) * (k1 + 2 * k2 + 2 * k3 + k4) @@ -56,7 +55,6 @@ def __init__(self) -> None: super().__init__() self._integrator_type = "euler" - def integrate(self, f, x, u, dt, params): - dstate = f(x, u, params) - x = x + dt * dstate + def integrate(self, f, x, u, dt, *args): + x = x + dt * f(x, u, *args) return x diff --git a/f1tenth_gym/envs/laser_models.py b/f1tenth_gym/envs/laser_models.py index 0e80e6f9..d3d81bac 100644 --- a/f1tenth_gym/envs/laser_models.py +++ b/f1tenth_gym/envs/laser_models.py @@ -244,7 +244,7 @@ def get_scan( # make sure it stays in the range [0, theta_dis) while theta_index >= theta_dis: theta_index -= theta_dis - + return scan @@ -512,6 +512,7 @@ def scan(self, pose, rng, std_dev=0.01): if self.map_height is None: raise ValueError("Map is not set for scan simulator.") + scan = get_scan( pose, self.theta_dis, @@ -533,10 +534,9 @@ def scan(self, pose, rng, std_dev=0.01): ) if rng is not None: - noise = rng.normal(0.0, std_dev, size=self.num_beams) - scan += noise - - return scan + scan = scan + rng.normal(0.0, std_dev, size=self.num_beams) + + return np.clip(scan, 0.0, self.max_range) def get_increment(self): return self.angle_increment diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py index 03f60410..bda7635a 100644 --- a/f1tenth_gym/envs/observation.py +++ b/f1tenth_gym/envs/observation.py @@ -125,12 +125,10 @@ def observe(self): collision = self.env.unwrapped.sim.collisions[i] std_state = agent.standard_state - - x, y, theta = std_state["x"], std_state["y"], std_state["yaw"] - - vx = std_state["v_x"] - vy = std_state["v_y"] - angvel = std_state["yaw_rate"] + x, y, theta = std_state[0], std_state[1], std_state[4] + vx = std_state[3] * np.cos(std_state[6]) + vy = std_state[3] * np.sin(std_state[6]) + angvel = std_state[5] observations["scans"].append(agent_scan) observations["poses_x"].append(x) @@ -162,36 +160,15 @@ def space(self): scan_size = self.env.unwrapped.sim.agents[0].scan_simulator.num_beams scan_range = self.env.unwrapped.sim.agents[0].scan_simulator.max_range large_num = 1e30 # large number to avoid unbounded obs space (ie., low=-inf or high=inf) - + complete_space = {} for agent_id in self.env.unwrapped.agent_ids: agent_dict = { "scan": gym.spaces.Box( low=0.0, high=scan_range, shape=(scan_size,), dtype=np.float32 ), - "pose_x": gym.spaces.Box( - low=-large_num, high=large_num, shape=(), dtype=np.float32 - ), - "pose_y": gym.spaces.Box( - low=-large_num, high=large_num, shape=(), dtype=np.float32 - ), - "pose_theta": gym.spaces.Box( - low=-large_num, high=large_num, shape=(), dtype=np.float32 - ), - "linear_vel_x": gym.spaces.Box( - low=-large_num, high=large_num, shape=(), dtype=np.float32 - ), - "linear_vel_y": gym.spaces.Box( - low=-large_num, high=large_num, shape=(), dtype=np.float32 - ), - "ang_vel_z": gym.spaces.Box( - low=-large_num, high=large_num, shape=(), dtype=np.float32 - ), - "delta": gym.spaces.Box( - low=-large_num, high=large_num, shape=(), dtype=np.float32 - ), - "beta": gym.spaces.Box( - low=-large_num, high=large_num, shape=(), dtype=np.float32 + "std_state": gym.spaces.Box( + low=-large_num, high=large_num, shape=(7,), dtype=np.float32 ), "collision": gym.spaces.Box( low=0.0, high=1.0, shape=(), dtype=np.float32 @@ -204,7 +181,7 @@ def space(self): ), } complete_space[agent_id] = gym.spaces.Dict( - {k: agent_dict[k] for k in self.features} + agent_dict ) obs_space = gym.spaces.Dict(complete_space) @@ -219,41 +196,21 @@ def observe(self): lap_time = self.env.unwrapped.lap_times[i] lap_count = self.env.unwrapped.lap_counts[i] - std_state = agent.standard_state - - x, y, theta = std_state["x"], std_state["y"], std_state["yaw"] - delta = std_state["delta"] - beta = std_state["slip"] - vx = std_state["v_x"] - vy = std_state["v_y"] - angvel = std_state["yaw_rate"] - # create agent's observation dict agent_obs = { "scan": scan, - "pose_x": x, - "pose_y": y, - "pose_theta": theta, - "linear_vel_x": vx, - "linear_vel_y": vy, - "ang_vel_z": angvel, - "delta": delta, - "beta": beta, - "collision": int(agent.in_collision), + "std_state": agent.standard_state, + "collision": agent.in_collision, "lap_time": lap_time, "lap_count": lap_count, } # add agent's observation to multi-agent observation - obs[agent_id] = {k: agent_obs[k] for k in self.features} + obs[agent_id] = agent_obs # cast to match observation space for key in obs[agent_id].keys(): - if isinstance(obs[agent_id][key], np.ndarray) or isinstance( - obs[agent_id][key], list) or isinstance( - obs[agent_id][key], float - ): - obs[agent_id][key] = np.array(obs[agent_id][key], dtype=np.float32) + obs[agent_id][key] = np.array(obs[agent_id][key], dtype=np.float32) return obs From c13d400a967ae4b7488e9afad78649df69a36450 Mon Sep 17 00:00:00 2001 From: zzangupenn Date: Sat, 7 Jun 2025 19:42:12 -0400 Subject: [PATCH 04/54] change FeatureObs to DirectObs --- README.md | 6 +- examples/waypoint_follow.py | 16 ++-- f1tenth_gym/envs/observation.py | 164 ++++++++++++++------------------ 3 files changed, 83 insertions(+), 103 deletions(-) diff --git a/README.md b/README.md index 120a9258..12d2b742 100644 --- a/README.md +++ b/README.md @@ -9,9 +9,11 @@ Zirui branch TODO list: - [ ] separate time step and integrater time step - [ ] add frenet - [ ] use correct loop count -- [x] simplify std_state observation +- [x] simplify std_state and observation - [ ] simplify reset -- [ ] control_buffer_size +- [ ] control_buffer_size in config +- [ ] use class attribute for config, not dict +- [ ] save dynamic param and default gym config in separate yaml file ## Quickstart We recommend installing the simulation inside a virtualenv. You can install the environment by running: diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py index b69b3ceb..4977f02c 100644 --- a/examples/waypoint_follow.py +++ b/examples/waypoint_follow.py @@ -314,10 +314,10 @@ def main(): "timestep": 0.01, "integrator": "rk4", "control_input": ["speed", "steering_angle"], - "model": "mb", # "ks", "st", "mb" - "observation_config": {"type": "dynamic_state"}, - # "params": F110Env.f1tenth_vehicle_params(), - "params": F110Env.fullscale_vehicle_params(), + "model": "st", # "ks", "st", "mb" + "observation_config": {"type": "direct"}, + "params": F110Env.f1tenth_vehicle_params(), + # "params": F110Env.fullscale_vehicle_params(), "reset_config": {"type": "rl_random_static"}, "scale": 10.0, "enable_rendering": 0, @@ -329,10 +329,10 @@ def main(): planner = PurePursuitPlanner( track=track, wb=( - # F110Env.f1tenth_vehicle_params()["lf"] - # + F110Env.f1tenth_vehicle_params()["lr"] - F110Env.fullscale_vehicle_params()["lf"] - + F110Env.fullscale_vehicle_params()["lr"] + F110Env.f1tenth_vehicle_params()["lf"] + + F110Env.f1tenth_vehicle_params()["lr"] + # F110Env.fullscale_vehicle_params()["lf"] + # + F110Env.fullscale_vehicle_params()["lr"] ), ) diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py index bda7635a..b0f3fde8 100644 --- a/f1tenth_gym/envs/observation.py +++ b/f1tenth_gym/envs/observation.py @@ -26,6 +26,74 @@ def space(self): def observe(self): raise NotImplementedError() +class DirectObservation(Observation): + def __init__(self, env): + super().__init__(env) + self.env = env + + def space(self): + scan_size = self.env.unwrapped.sim.agents[0].scan_simulator.num_beams + scan_range = self.env.unwrapped.sim.agents[0].scan_simulator.max_range + large_num = 1e30 # large number to avoid unbounded obs space (ie., low=-inf or high=inf) + + complete_space = {} + for agent_id in self.env.unwrapped.agent_ids: + agent_dict = { + "scan": gym.spaces.Box( + low=0.0, high=scan_range, shape=(scan_size,), dtype=np.float32 + ), + "std_state": gym.spaces.Box( + low=-large_num, high=large_num, shape=(7,), dtype=np.float32 + ), + # "dyna_state": gym.spaces.Box( + # low=-large_num, high=large_num, shape=(int(self.env.model.state_dim),), dtype=np.float32 + # ), + # "frenet_state": gym.spaces.Box( + # low=-large_num, high=large_num, shape=(7,), dtype=np.float32 + # ), + "collision": gym.spaces.Box( + low=0.0, high=1.0, shape=(), dtype=np.float32 + ), + "lap_time": gym.spaces.Box( + low=0.0, high=large_num, shape=(), dtype=np.float32 + ), + "lap_count": gym.spaces.Box( + low=0.0, high=large_num, shape=(), dtype=np.float32 + ), + } + complete_space[agent_id] = gym.spaces.Dict( + agent_dict + ) + + obs_space = gym.spaces.Dict(complete_space) + return obs_space + + def observe(self): + obs = {} # dictionary agent_id -> observation dict + + for i, agent_id in enumerate(self.env.unwrapped.agent_ids): + scan = self.env.unwrapped.sim.agent_scans[i] + agent = self.env.unwrapped.sim.agents[i] + lap_time = self.env.unwrapped.lap_times[i] + lap_count = self.env.unwrapped.lap_counts[i] + + # create agent's observation dict + agent_obs = { + "scan": scan, + "std_state": agent.standard_state, + "collision": agent.in_collision, + "lap_time": lap_time, + "lap_count": lap_count, + } + + # add agent's observation to multi-agent observation + obs[agent_id] = agent_obs + + # cast to match observation space + for key in obs[agent_id].keys(): + obs[agent_id][key] = np.array(obs[agent_id][key], dtype=np.float32) + + return obs class OriginalObservation(Observation): def __init__(self, env): @@ -151,102 +219,12 @@ def observe(self): return observations -class FeaturesObservation(Observation): - def __init__(self, env, features: List[str]): - super().__init__(env) - self.features = features - - def space(self): - scan_size = self.env.unwrapped.sim.agents[0].scan_simulator.num_beams - scan_range = self.env.unwrapped.sim.agents[0].scan_simulator.max_range - large_num = 1e30 # large number to avoid unbounded obs space (ie., low=-inf or high=inf) - - complete_space = {} - for agent_id in self.env.unwrapped.agent_ids: - agent_dict = { - "scan": gym.spaces.Box( - low=0.0, high=scan_range, shape=(scan_size,), dtype=np.float32 - ), - "std_state": gym.spaces.Box( - low=-large_num, high=large_num, shape=(7,), dtype=np.float32 - ), - "collision": gym.spaces.Box( - low=0.0, high=1.0, shape=(), dtype=np.float32 - ), - "lap_time": gym.spaces.Box( - low=0.0, high=large_num, shape=(), dtype=np.float32 - ), - "lap_count": gym.spaces.Box( - low=0.0, high=large_num, shape=(), dtype=np.float32 - ), - } - complete_space[agent_id] = gym.spaces.Dict( - agent_dict - ) - - obs_space = gym.spaces.Dict(complete_space) - return obs_space - - def observe(self): - obs = {} # dictionary agent_id -> observation dict - - for i, agent_id in enumerate(self.env.unwrapped.agent_ids): - scan = self.env.unwrapped.sim.agent_scans[i] - agent = self.env.unwrapped.sim.agents[i] - lap_time = self.env.unwrapped.lap_times[i] - lap_count = self.env.unwrapped.lap_counts[i] - - # create agent's observation dict - agent_obs = { - "scan": scan, - "std_state": agent.standard_state, - "collision": agent.in_collision, - "lap_time": lap_time, - "lap_count": lap_count, - } - - # add agent's observation to multi-agent observation - obs[agent_id] = agent_obs - - # cast to match observation space - for key in obs[agent_id].keys(): - obs[agent_id][key] = np.array(obs[agent_id][key], dtype=np.float32) - - return obs - - -def observation_factory(env, type: str | None, **kwargs) -> Observation: +def observation_factory(env, type: str | None) -> Observation: type = type or "original" if type == "original": return OriginalObservation(env) - elif type == "features": - return FeaturesObservation(env, **kwargs) - elif type == "kinematic_state": - features = ["pose_x", "pose_y", "delta", "linear_vel_x", "pose_theta"] - return FeaturesObservation(env, features=features) - elif type == "dynamic_state": - features = [ - "pose_x", - "pose_y", - "delta", - "linear_vel_x", - "pose_theta", - "ang_vel_z", - "beta", - ] - return FeaturesObservation(env, features=features) - elif type == "frenet_dynamic_state": - features = [ - "pose_x", - "pose_y", - "delta", - "linear_vel_x", - "linear_vel_y", - "pose_theta", - "ang_vel_z", - "beta", - ] - return FeaturesObservation(env, features=features) + elif type == "direct": + return DirectObservation(env) else: raise ValueError(f"Invalid observation type {type}.") From 8a7cc361d643d0b073bdd56cba368a607e4ed6ff Mon Sep 17 00:00:00 2001 From: zzangupenn Date: Sat, 7 Jun 2025 22:12:57 -0400 Subject: [PATCH 05/54] scan toggle --- README.md | 2 +- ...1_1base__classes_1_1_race_car-members.html | 2 +- ...1_1envs_1_1base__classes_1_1_race_car.html | 8 ++-- docs/html/functions.html | 2 +- docs/html/functions_func.html | 2 +- docs/html/search/all_c.js | 2 +- docs/html/search/functions_8.js | 2 +- docs/xml/base__classes_8py.xml | 6 +-- ..._1_1envs_1_1base__classes_1_1_race_car.xml | 8 ++-- docs/xml/index.xml | 2 +- examples/waypoint_follow.py | 3 +- f1tenth_gym/envs/base_classes.py | 45 +++++++++++-------- f1tenth_gym/envs/f110_env.py | 14 +++--- f1tenth_gym/envs/utils.py | 5 ++- 14 files changed, 57 insertions(+), 46 deletions(-) diff --git a/README.md b/README.md index 12d2b742..d59476b6 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ Zirui branch TODO list: - [x] remove unnecessary use of dictionary. model st is 50% faster, mb is 150% faster. - [x] toggle renderer - [ ] verify collision -- [ ] scan toggle +- [x] scan toggle - [ ] separate time step and integrater time step - [ ] add frenet - [ ] use correct loop count diff --git a/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car-members.html b/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car-members.html index 71b2699e..a484de97 100644 --- a/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car-members.html +++ b/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car-members.html @@ -97,7 +97,7 @@ ttc_thresh (defined in f110_gym.envs.base_classes.RaceCar)f110_gym.envs.base_classes.RaceCar update_opp_poses(self, opp_poses)f110_gym.envs.base_classes.RaceCar update_params(self, params)f110_gym.envs.base_classes.RaceCar - update_pose(self, raw_steer, vel)f110_gym.envs.base_classes.RaceCar + update_dynamic(self, raw_steer, vel)f110_gym.envs.base_classes.RaceCar update_scan(self)f110_gym.envs.base_classes.RaceCar diff --git a/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html b/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html index 0f1b2a5c..587d07cd 100644 --- a/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html +++ b/docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html @@ -106,7 +106,7 @@   def check_ttc (self)   -def update_pose (self, raw_steer, vel) +def update_dynamic (self, raw_steer, vel)   def update_opp_poses (self, opp_poses)   @@ -457,13 +457,13 @@

-

◆ update_pose()

+

◆ update_dynamic()

- + @@ -514,7 +514,7 @@ 

Steps the vehicle's laser scan simulation
-Separated from update_pose because needs to update scan based on NEW poses of agents in the environment
+Separated from update_dynamic because needs to update scan based on NEW poses of agents in the environment
 
 Args:
     None
diff --git a/docs/html/functions.html b/docs/html/functions.html
index d1933dfa..79be3cb0 100644
--- a/docs/html/functions.html
+++ b/docs/html/functions.html
@@ -175,7 +175,7 @@ 
- u -
    
 , f110_gym.envs.base_classes.Simulator
 , f110_gym.envs.f110_env.F110Env
 
-
  • update_pose()
+
  • update_dynamic()
 : f110_gym.envs.base_classes.RaceCar
 
    • 
 
  • update_scan()
diff --git a/docs/html/functions_func.html b/docs/html/functions_func.html
index eb5d2d9a..bb07acd2 100644
--- a/docs/html/functions_func.html
+++ b/docs/html/functions_func.html
@@ -175,7 +175,7 @@ 
    - u -
      
 , f110_gym.envs.base_classes.Simulator
 , f110_gym.envs.f110_env.F110Env
 
-
    • update_pose()
+
    • update_dynamic()
 : f110_gym.envs.base_classes.RaceCar
 
      • 
 
    • update_scan()
diff --git a/docs/html/search/all_c.js b/docs/html/search/all_c.js
index 93a2641c..6ac1d253 100644
--- a/docs/html/search/all_c.js
+++ b/docs/html/search/all_c.js
@@ -4,6 +4,6 @@ var searchData=
   ['update_5fobs_30',['update_obs',['../classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.html#a1b9284f2e59c9000f10bd18e1ec6a9b3',1,'f110_gym::envs::rendering::EnvRenderer']]],
   ['update_5fopp_5fposes_31',['update_opp_poses',['../classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a4800c5ac90ba93b79a0338e5e34ead43',1,'f110_gym::envs::base_classes::RaceCar']]],
   ['update_5fparams_32',['update_params',['../classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a6ab5b5dd420b182b5156ee9566c03411',1,'f110_gym.envs.base_classes.RaceCar.update_params()'],['../classf110__gym_1_1envs_1_1base__classes_1_1_simulator.html#a974c58957a6b14582149d704ef28a68c',1,'f110_gym.envs.base_classes.Simulator.update_params()'],['../classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.html#a79d419bbf2ff0e377d808e4a8f41cc81',1,'f110_gym.envs.f110_env.F110Env.update_params()']]],
-  ['update_5fpose_33',['update_pose',['../classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#ae12c14c1353e6aab2f72036593d85518',1,'f110_gym::envs::base_classes::RaceCar']]],
+  ['update_5fpose_33',['update_dynamic',['../classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#ae12c14c1353e6aab2f72036593d85518',1,'f110_gym::envs::base_classes::RaceCar']]],
   ['update_5fscan_34',['update_scan',['../classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a356ec05a0a0c056f4d43f5fb0451c83d',1,'f110_gym::envs::base_classes::RaceCar']]]
 ];
diff --git a/docs/html/search/functions_8.js b/docs/html/search/functions_8.js
index 43c88610..7b08aeb4 100644
--- a/docs/html/search/functions_8.js
+++ b/docs/html/search/functions_8.js
@@ -4,6 +4,6 @@ var searchData=
   ['update_5fobs_66',['update_obs',['../classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.html#a1b9284f2e59c9000f10bd18e1ec6a9b3',1,'f110_gym::envs::rendering::EnvRenderer']]],
   ['update_5fopp_5fposes_67',['update_opp_poses',['../classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a4800c5ac90ba93b79a0338e5e34ead43',1,'f110_gym::envs::base_classes::RaceCar']]],
   ['update_5fparams_68',['update_params',['../classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a6ab5b5dd420b182b5156ee9566c03411',1,'f110_gym.envs.base_classes.RaceCar.update_params()'],['../classf110__gym_1_1envs_1_1base__classes_1_1_simulator.html#a974c58957a6b14582149d704ef28a68c',1,'f110_gym.envs.base_classes.Simulator.update_params()'],['../classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.html#a79d419bbf2ff0e377d808e4a8f41cc81',1,'f110_gym.envs.f110_env.F110Env.update_params()']]],
-  ['update_5fpose_69',['update_pose',['../classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#ae12c14c1353e6aab2f72036593d85518',1,'f110_gym::envs::base_classes::RaceCar']]],
+  ['update_5fpose_69',['update_dynamic',['../classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#ae12c14c1353e6aab2f72036593d85518',1,'f110_gym::envs::base_classes::RaceCar']]],
   ['update_5fscan_70',['update_scan',['../classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a356ec05a0a0c056f4d43f5fb0451c83d',1,'f110_gym::envs::base_classes::RaceCar']]]
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diff --git a/docs/xml/base__classes_8py.xml b/docs/xml/base__classes_8py.xml
index 87973cdf..55086aea 100644
--- a/docs/xml/base__classes_8py.xml
+++ b/docs/xml/base__classes_8py.xml
@@ -242,7 +242,7 @@
 
 returnin_collision
 
-defupdate_pose(self,raw_steer,vel):
+defupdate_dynamic(self,raw_steer,vel):
 """
 Stepsthevehicle'sphysicalsimulation
 
@@ -313,7 +313,7 @@
 defupdate_scan(self):
 """
 Stepsthevehicle'slaserscansimulation
-Separatedfromupdate_posebecauseneedstoupdatescanbasedonNEWposesofagentsintheenvironment
+Separatedfromupdate_dynamicbecauseneedstoupdatescanbasedonNEWposesofagentsintheenvironment
 
 Args:
 None
@@ -443,7 +443,7 @@
 #loopingoveragents
 fori,agentinenumerate(self.agents):
 #updateeachagent'spose
-agent.update_pose(control_inputs[i,0],control_inputs[i,1])
+agent.update_dynamic(control_inputs[i,0],control_inputs[i,1])
 
 #updatesim'sinformationofagentposes
 self.agent_poses[i,:]=np.append(agent.state[0:2],agent.state[4])
diff --git a/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml b/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml
index 905e3309..9672522a 100644
--- a/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml
+++ b/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml
@@ -442,9 +442,9 @@ Returns:
       
       
         def
-        def f110_gym.envs.base_classes.RaceCar.update_pose
+        def f110_gym.envs.base_classes.RaceCar.update_dynamic
         (self, raw_steer, vel)
-        update_pose
+        update_dynamic
         
           self
           self
@@ -516,7 +516,7 @@ Returns:
         
         
 Steps the vehicle's laser scan simulation
-Separated from update_pose because needs to update scan based on NEW poses of agents in the environment
+Separated from update_dynamic because needs to update scan based on NEW poses of agents in the environment
 
 Args:
     None
@@ -596,7 +596,7 @@ Data Members:
       f110_gym::envs::base_classes::RaceCarttc_thresh
       f110_gym::envs::base_classes::RaceCarupdate_opp_poses
       f110_gym::envs::base_classes::RaceCarupdate_params
-      f110_gym::envs::base_classes::RaceCarupdate_pose
+      f110_gym::envs::base_classes::RaceCarupdate_dynamic
       f110_gym::envs::base_classes::RaceCarupdate_scan
     
   
diff --git a/docs/xml/index.xml b/docs/xml/index.xml
index ac873c31..21676967 100644
--- a/docs/xml/index.xml
+++ b/docs/xml/index.xml
@@ -254,7 +254,7 @@
     reset
     ray_cast_agents
     check_ttc
-    update_pose
+    update_dynamic
     update_opp_poses
     update_scan
   
diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 4977f02c..7698c275 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -319,8 +319,9 @@ def main():
             "params": F110Env.f1tenth_vehicle_params(),
             # "params": F110Env.fullscale_vehicle_params(),
             "reset_config": {"type": "rl_random_static"},
-            "scale": 10.0,
+            "map_scale": 10.0,
             "enable_rendering": 0,
+            "enable_scan": 0,
         },
         render_mode="human",
     )
diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
index 8ca4e4c8..4c7f1203 100644
--- a/f1tenth_gym/envs/base_classes.py
+++ b/f1tenth_gym/envs/base_classes.py
@@ -62,6 +62,7 @@ class RaceCar(object):
 
     def __init__(
         self,
+        config,
         params,
         seed,
         action_type: CarAction,
@@ -73,7 +74,6 @@ def __init__(
         fov=4.7,
     ):
         """
-        TODO rewrite it
 
         Init function
 
@@ -98,7 +98,8 @@ def __init__(
         self.is_ego = is_ego
         self.time_step = time_step
         self.num_beams = num_beams
-        self.fov = fov
+        self.config = config
+        self.fov = fov # TODO
         self.integrator = integrator
         self.action_type = action_type
         self.model = model
@@ -281,7 +282,7 @@ def check_ttc(self, current_scan):
 
         return in_collision
 
-    def update_pose(self, raw_steer, vel):
+    def update_dynamic(self, raw_steer, vel):
         """
         Steps the vehicle's physical simulation
 
@@ -319,7 +320,7 @@ def update_pose(self, raw_steer, vel):
             )
         else:
             self.state = self.integrator.integrate(
-                f_dynamics, self.state, u_np, self.time_step, *[self.params['mu'],
+                f_dynamics, self.state, u_np, self.time_step, self.params['mu'],
                                                                 self.params['C_Sf'],
                                                                 self.params['C_Sr'],
                                                                 self.params['lf'],
@@ -336,16 +337,19 @@ def update_pose(self, raw_steer, vel):
                                                                 self.params['v_min'],
                                                                 self.params['v_max'],
                                                                 self.params['width'],
-                                                                self.params['length']]
+                                                                self.params['length']
             )
 
         # bound yaw angle
         self.state[4] %= 2 * np.pi  # TODO: This is a problem waiting to happen
 
-        # update scan
-        current_scan = RaceCar.scan_simulator.scan(
-            np.append(self.state[0:2], self.state[4]), self.scan_rng
-        )
+        if self.config['enable_scan']:
+            # update scan
+            current_scan = RaceCar.scan_simulator.scan(
+                np.append(self.state[0:2], self.state[4]), self.scan_rng
+            )
+        else:
+            current_scan = np.zeros((self.num_beams,))
 
         return current_scan
 
@@ -364,7 +368,7 @@ def update_opp_poses(self, opp_poses):
     def update_scan(self, agent_scans, agent_index):
         """
         Steps the vehicle's laser scan simulation
-        Separated from update_pose because needs to update scan based on NEW poses of agents in the environment
+        Separated from update_dynamic because needs to update scan based on NEW poses of agents in the environment
 
         Args:
             agent scans list (modified in-place),
@@ -418,6 +422,7 @@ class Simulator(object):
 
     def __init__(
         self,
+        config,
         params,
         num_agents,
         seed,
@@ -447,6 +452,7 @@ def __init__(
         self.time_step = time_step
         self.ego_idx = ego_idx
         self.params = params
+        self.config = config
         self.agent_poses = np.empty((self.num_agents, 3))
         self.agent_steerings = np.empty((self.num_agents,))
         self.agents: list[RaceCar] = []
@@ -457,6 +463,7 @@ def __init__(
         # initializing agents
         for i in range(self.num_agents):
             car = RaceCar(
+                config,
                 params,
                 self.seed,
                 is_ego=bool(i == ego_idx),
@@ -542,15 +549,16 @@ def step(self, control_inputs):
         # looping over agents
         for i, agent in enumerate(self.agents):
             # update each agent's pose
-            current_scan = agent.update_pose(control_inputs[i, 0], control_inputs[i, 1])
+            current_scan = agent.update_dynamic(control_inputs[i, 0], control_inputs[i, 1])
             self.agent_scans[i, :] = current_scan
 
             # update sim's information of agent poses
             self.agent_poses[i, :] = np.append(agent.state[0:2], agent.state[4])
             self.agent_steerings[i] = agent.state[2]
-
-        # check collisions between all agents
-        self.check_collision()
+            
+        if self.config['enable_scan']:
+            # check collisions between all agents
+            self.check_collision()
 
         for i, agent in enumerate(self.agents):
             # update agent's information on other agents
@@ -560,11 +568,12 @@ def step(self, control_inputs):
             agent.update_opp_poses(opp_poses)
 
             # update each agent's current scan based on other agents
-            agent.update_scan(self.agent_scans, i)
+            if self.config['enable_scan']:
+                agent.update_scan(self.agent_scans, i)
 
-            # update agent collision with environment
-            if agent.in_collision:
-                self.collisions[i] = 1.0
+                # update agent collision with environment
+                if agent.in_collision:
+                    self.collisions[i] = 1.0
 
     def reset(self, poses):
         """
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 07aef22b..532beb3a 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -101,9 +101,6 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         self.observation_config = self.config["observation_config"]
         self.action_type = CarAction(self.config["control_input"], params=self.params)
 
-        # radius to consider done
-        self.start_thresh = 0.5  # 10cm
-
         # env states
         self.poses_x = []
         self.poses_y = []
@@ -131,6 +128,7 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         
         # initiate stuff
         self.sim = Simulator(
+            self.config,
             self.params,
             self.num_agents,
             self.seed,
@@ -139,14 +137,14 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
             model=self.model,
             action_type=self.action_type,
         )
-        self.sim.set_map(self.map, self.config["scale"])
+        self.sim.set_map(self.map, self.config["map_scale"])
 
         if isinstance(self.map, Track):
             self.track = self.map
         else:
             self.track = Track.from_track_name(
                 self.map,
-                track_scale=self.config["scale"],
+                track_scale=self.config["map_scale"],
             )  # load track in gym env for convenience
 
         # observations
@@ -389,19 +387,19 @@ def default_config(cls) -> dict:
         return {
             "seed": 12345,
             "map": "Spielberg",
-            "scale": 1.0,
+            "map_scale": 1.0,
             "params": cls.f1tenth_vehicle_params(),
             "num_agents": 2,
             "timestep": 0.01,
             "integrator_timestep": 0.01,
             "ego_idx": 0,
             "integrator": "rk4",
-            "model": "st",
+            "model": "st", # "ks", "st", "mb"
             "control_input": ["speed", "steering_angle"],
             "observation_config": {"type": None},
             "reset_config": {"type": None},
             "enable_rendering": True,
-            "enable_scan": True,
+            "enable_scan": True, # no lidar scan and collision if False
             "control_delay_buffer_size": 0,
         }
 
diff --git a/f1tenth_gym/envs/utils.py b/f1tenth_gym/envs/utils.py
index 4bed0ca9..3152e8d6 100644
--- a/f1tenth_gym/envs/utils.py
+++ b/f1tenth_gym/envs/utils.py
@@ -1,4 +1,7 @@
 from typing import Any, Dict, TypeVar
+# import yaml
+# from pathlib import Path
+# import numpy as np
 
 KeyType = TypeVar("KeyType")
 
@@ -21,4 +24,4 @@ def deep_update(
                 updated_mapping[k] = deep_update(updated_mapping[k], v)
             else:
                 updated_mapping[k] = v
-    return updated_mapping
+    return updated_mapping
\ No newline at end of file

From d191714a1b15749192fece13fd84d29bf91c983e Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Sat, 7 Jun 2025 22:15:19 -0400
Subject: [PATCH 06/54] update todo

---
 README.md | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/README.md b/README.md
index d59476b6..4940d372 100644
--- a/README.md
+++ b/README.md
@@ -12,8 +12,7 @@ Zirui branch TODO list:
 - [x] simplify std_state and observation
 - [ ] simplify reset
 - [ ] control_buffer_size in config
-- [ ] use class attribute for config, not dict
-- [ ] save dynamic param and default gym config in separate yaml file
+- [ ] double check dynamics result
 
 ## Quickstart
 We recommend installing the simulation inside a virtualenv. You can install the environment by running:

From bb9997915bd6f4d4cc1ec7acc5069bcad74ef1d3 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Sun, 8 Jun 2025 00:10:17 -0400
Subject: [PATCH 07/54] integrator_timestep, lidar config

---
 README.md                        |  4 +-
 examples/waypoint_follow.py      |  9 +++--
 f1tenth_gym/envs/base_classes.py | 64 ++++++++++++++++----------------
 f1tenth_gym/envs/f110_env.py     | 12 ++++--
 f1tenth_gym/envs/integrator.py   | 50 +++++++++++++++----------
 f1tenth_gym/envs/laser_models.py |  8 ++--
 6 files changed, 83 insertions(+), 64 deletions(-)

diff --git a/README.md b/README.md
index 4940d372..adb51461 100644
--- a/README.md
+++ b/README.md
@@ -6,12 +6,12 @@ Zirui branch TODO list:
 - [x] toggle renderer
 - [ ] verify collision
 - [x] scan toggle
-- [ ] separate time step and integrater time step
+- [x] separate time step and integrater time step
 - [ ] add frenet
 - [ ] use correct loop count
 - [x] simplify std_state and observation
 - [ ] simplify reset
-- [ ] control_buffer_size in config
+- [x] control_buffer_size, lidar fov, lidar nums in config
 - [ ] double check dynamics result
 
 ## Quickstart
diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 7698c275..815edba4 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -302,7 +302,7 @@ def main():
         "mass": 3.463388126201571,
         "lf": 0.15597534362552312,
         "tlad": 0.82461887897713965 * 10,
-        "vgain": 1.0,
+        "vgain": 0.5,
     }
 
     num_agents = 1
@@ -312,6 +312,7 @@ def main():
             "map": "Spielberg_blank",
             "num_agents": num_agents,
             "timestep": 0.01,
+            "integrator_timestep": 0.005,
             "integrator": "rk4",
             "control_input": ["speed", "steering_angle"],
             "model": "st", # "ks", "st", "mb"
@@ -319,9 +320,9 @@ def main():
             "params": F110Env.f1tenth_vehicle_params(),
             # "params": F110Env.fullscale_vehicle_params(),
             "reset_config": {"type": "rl_random_static"},
-            "map_scale": 10.0,
-            "enable_rendering": 0,
-            "enable_scan": 0,
+            "map_scale": 1.0,
+            "enable_rendering": 1,
+            "enable_scan": 1,
         },
         render_mode="human",
     )
diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
index 4c7f1203..e96c73ba 100644
--- a/f1tenth_gym/envs/base_classes.py
+++ b/f1tenth_gym/envs/base_classes.py
@@ -66,12 +66,10 @@ def __init__(
         params,
         seed,
         action_type: CarAction,
-        integrator=EulerIntegrator(),
+        integrator,
         model=DynamicModel.ST,
         is_ego=False,
         time_step=0.01,
-        num_beams=1080,
-        fov=4.7,
     ):
         """
 
@@ -94,12 +92,14 @@ def __init__(
 
         # initialization
         self.params = params
+        self.config = config
         self.seed = seed
         self.is_ego = is_ego
         self.time_step = time_step
-        self.num_beams = num_beams
-        self.config = config
-        self.fov = fov # TODO
+        self.num_beams = config['lidar_num_beams']
+        self.fov = config['lidar_fov']
+        self.lidar_noise = config['lidar_noise_std']
+        self.lidar_max_range = config['lidar_range']
         self.integrator = integrator
         self.action_type = action_type
         self.model = model
@@ -122,7 +122,7 @@ def __init__(
 
         # steering delay buffer
         self.steer_buffer = np.empty((0,))
-        self.steer_buffer_size = 2
+        self.steer_buffer_size = self.config['control_delay_buffer_size']
 
         # collision identifier
         self.in_collision = False
@@ -133,20 +133,20 @@ def __init__(
         # initialize scan sim
         if RaceCar.scan_simulator is None:
             self.scan_rng = np.random.default_rng(seed=self.seed)
-            RaceCar.scan_simulator = ScanSimulator2D(num_beams, fov)
+            RaceCar.scan_simulator = ScanSimulator2D(self.num_beams, self.fov, std_dev=self.lidar_noise, max_range=self.lidar_max_range)
 
             scan_ang_incr = RaceCar.scan_simulator.get_increment()
 
             # angles of each scan beam, distance from lidar to edge of car at each beam, and precomputed cosines of each angle
-            RaceCar.cosines = np.zeros((num_beams,))
-            RaceCar.scan_angles = np.zeros((num_beams,))
-            RaceCar.side_distances = np.zeros((num_beams,))
+            RaceCar.cosines = np.zeros((self.num_beams,))
+            RaceCar.scan_angles = np.zeros((self.num_beams,))
+            RaceCar.side_distances = np.zeros((self.num_beams,))
 
             dist_sides = params["width"] / 2.0
             dist_fr = (params["lf"] + params["lr"]) / 2.0
 
-            for i in range(num_beams):
-                angle = -fov / 2.0 + i * scan_ang_incr
+            for i in range(self.num_beams):
+                angle = -self.fov / 2.0 + i * scan_ang_incr
                 RaceCar.scan_angles[i] = angle
                 RaceCar.cosines[i] = np.cos(angle)
 
@@ -316,28 +316,28 @@ def update_dynamic(self, raw_steer, vel):
         f_dynamics = self.model.f_dynamics
         if self.model == DynamicModel.MB:
             self.state = self.integrator.integrate(
-                f_dynamics, self.state, u_np, self.time_step, [self.params[key] for key in self.sequential_param_keys]
+                f_dynamics, self.state, u_np, [self.params[key] for key in self.sequential_param_keys]
             )
         else:
             self.state = self.integrator.integrate(
-                f_dynamics, self.state, u_np, self.time_step, self.params['mu'],
-                                                                self.params['C_Sf'],
-                                                                self.params['C_Sr'],
-                                                                self.params['lf'],
-                                                                self.params['lr'],
-                                                                self.params['h'],
-                                                                self.params['m'],
-                                                                self.params['I'],
-                                                                self.params['s_min'],
-                                                                self.params['s_max'],
-                                                                self.params['sv_min'],
-                                                                self.params['sv_max'],
-                                                                self.params['v_switch'],
-                                                                self.params['a_max'],
-                                                                self.params['v_min'],
-                                                                self.params['v_max'],
-                                                                self.params['width'],
-                                                                self.params['length']
+                f_dynamics, self.state, u_np, self.params['mu'],
+                                                self.params['C_Sf'],
+                                                self.params['C_Sr'],
+                                                self.params['lf'],
+                                                self.params['lr'],
+                                                self.params['h'],
+                                                self.params['m'],
+                                                self.params['I'],
+                                                self.params['s_min'],
+                                                self.params['s_max'],
+                                                self.params['sv_min'],
+                                                self.params['sv_max'],
+                                                self.params['v_switch'],
+                                                self.params['a_max'],
+                                                self.params['v_min'],
+                                                self.params['v_max'],
+                                                self.params['width'],
+                                                self.params['length']
             )
 
         # bound yaw angle
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 532beb3a..fcac3a55 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -96,7 +96,9 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         self.num_agents = self.config["num_agents"]
         self.timestep = self.config["timestep"]
         self.ego_idx = self.config["ego_idx"]
-        self.integrator = IntegratorType.from_string(self.config["integrator"])
+        self.integrator = IntegratorType.from_string(self.config["integrator"], 
+                                                     self.timestep, 
+                                                     self.config["integrator_timestep"])
         self.model = DynamicModel.from_string(self.config["model"])
         self.observation_config = self.config["observation_config"]
         self.action_type = CarAction(self.config["control_input"], params=self.params)
@@ -399,8 +401,12 @@ def default_config(cls) -> dict:
             "observation_config": {"type": None},
             "reset_config": {"type": None},
             "enable_rendering": True,
-            "enable_scan": True, # no lidar scan and collision if False
-            "control_delay_buffer_size": 0,
+            "enable_scan": True, # NOTE no lidar scan and collision if False
+            "lidar_fov" : 4.712389,
+            "lidar_num_beams": 360,
+            "lidar_range": 30.0,
+            "lidar_noise_std": 0.01,
+            "control_delay_buffer_size": 1
         }
 
     def configure(self, config: dict) -> None:
diff --git a/f1tenth_gym/envs/integrator.py b/f1tenth_gym/envs/integrator.py
index bdb5ed6d..86caa441 100644
--- a/f1tenth_gym/envs/integrator.py
+++ b/f1tenth_gym/envs/integrator.py
@@ -6,11 +6,11 @@ class IntegratorType(Enum):
     Euler = 2
 
     @staticmethod
-    def from_string(integrator: str):
+    def from_string(integrator: str, *args):
         if integrator == "rk4":
-            return RK4Integrator()
+            return RK4Integrator(*args)
         elif integrator == "euler":
-            return EulerIntegrator()
+            return EulerIntegrator(*args)
         else:
             raise ValueError(f"Unknown integrator type {integrator}")
 
@@ -20,7 +20,7 @@ def __init__(self) -> None:
         self._integrator_type = None
 
     @abstractmethod
-    def integrate(self, f, x, u, dt, *args):
+    def integrate(self, f, x, u, *args):
         raise NotImplementedError("integrate method not implemented")
 
     @property
@@ -29,32 +29,44 @@ def type(self) -> str:
 
 
 class RK4Integrator(Integrator):
-    def __init__(self) -> None:
+    def __init__(self, dt, integrator_dt=0.01) -> None:
         super().__init__()
         self._integrator_type = "rk4"
+        self.integrator_dt = integrator_dt
+        self.dt = dt
+        self.n_steps = int(dt / integrator_dt)
+        if self.n_steps < 1:
+            raise ValueError("Integrator dt must be smaller than the total dt.")
 
-    def integrate(self, f, x, u, dt, *args):
-        k1 = f(x, u, *args)
+    def integrate(self, f, x, u, *args):
+        for _ in range(self.n_steps):
+            k1 = f(x, u, *args)
 
-        k2_state = x + dt * (k1 / 2)
-        k2 = f(k2_state, u, *args)
+            k2_state = x + self.integrator_dt * (k1 / 2)
+            k2 = f(k2_state, u, *args)
 
-        k3_state = x + dt * (k2 / 2)
-        k3 = f(k3_state, u, *args)
+            k3_state = x + self.integrator_dt * (k2 / 2)
+            k3 = f(k3_state, u, *args)
 
-        k4_state = x + dt * k3
-        k4 = f(k4_state, u, *args)
+            k4_state = x + self.integrator_dt * k3
+            k4 = f(k4_state, u, *args)
 
-        # dynamics integration
-        x = x + dt * (1 / 6) * (k1 + 2 * k2 + 2 * k3 + k4)
+            # dynamics integration
+            x = x + self.integrator_dt * (1 / 6) * (k1 + 2 * k2 + 2 * k3 + k4)
         return x
 
 
 class EulerIntegrator(Integrator):
-    def __init__(self) -> None:
+    def __init__(self, dt, integrator_dt=0.01) -> None:
         super().__init__()
         self._integrator_type = "euler"
-
-    def integrate(self, f, x, u, dt, *args):
-        x = x + dt * f(x, u, *args)
+        self.integrator_dt = integrator_dt
+        self.dt = dt
+        self.n_steps = int(dt / integrator_dt)
+        if self.n_steps < 1:
+            raise ValueError("Integrator dt must be smaller than the total dt.")
+
+    def integrate(self, f, x, u, *args):
+        for _ in range(self.n_steps):
+            x = x + self.integrator_dt * f(x, u, *args)
         return x
diff --git a/f1tenth_gym/envs/laser_models.py b/f1tenth_gym/envs/laser_models.py
index d3d81bac..7f2febe1 100644
--- a/f1tenth_gym/envs/laser_models.py
+++ b/f1tenth_gym/envs/laser_models.py
@@ -432,11 +432,12 @@ class ScanSimulator2D(object):
         max_range (float, default=30.0): maximum range of the laser
     """
 
-    def __init__(self, num_beams, fov, eps=0.0001, theta_dis=2000, max_range=30.0):
+    def __init__(self, num_beams, fov, eps=0.0001, theta_dis=2000, std_dev=0.01, max_range=30.0):
         # initialization
         self.num_beams = num_beams
         self.fov = fov
         self.eps = eps
+        self.std_dev = std_dev
         self.theta_dis = theta_dis
         self.max_range = max_range
         self.angle_increment = self.fov / (self.num_beams - 1)
@@ -493,14 +494,13 @@ def set_map(self, map: str | Track, map_scale: float = 1.0) -> bool:
 
         return True
 
-    def scan(self, pose, rng, std_dev=0.01):
+    def scan(self, pose, rng):
         """
         Perform simulated 2D scan by pose on the given map
 
             Args:
                 pose (numpy.ndarray (3, )): pose of the scan frame (x, y, theta)
                 rng (numpy.random.Generator): random number generator to use for whitenoise in scan, or None
-                std_dev (float, default=0.01): standard deviation of the generated whitenoise in the scan
 
             Returns:
                 scan (numpy.ndarray (n, )): data array of the laserscan, n=num_beams
@@ -534,7 +534,7 @@ def scan(self, pose, rng, std_dev=0.01):
         )
 
         if rng is not None:
-            scan = scan + rng.normal(0.0, std_dev, size=self.num_beams)
+            scan = scan + rng.normal(0.0, self.std_dev, size=self.num_beams)
             
         return np.clip(scan, 0.0, self.max_range)
 

From 75276136b38328f73d0c66477af751f7baf6f008 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Sun, 8 Jun 2025 01:00:35 -0400
Subject: [PATCH 08/54] add option state in reset, add state in obs

---
 README.md                        |  2 +-
 examples/waypoint_follow.py      | 20 ++++++++++--------
 f1tenth_gym/envs/base_classes.py | 15 ++++++++------
 f1tenth_gym/envs/f110_env.py     | 35 +++++++++++++++++++++++---------
 f1tenth_gym/envs/observation.py  |  7 ++++---
 5 files changed, 50 insertions(+), 29 deletions(-)

diff --git a/README.md b/README.md
index adb51461..baaad140 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,7 @@ Zirui branch TODO list:
 - [ ] add frenet
 - [ ] use correct loop count
 - [x] simplify std_state and observation
-- [ ] simplify reset
+- [x] add option "state" in reset
 - [x] control_buffer_size, lidar fov, lidar nums in config
 - [ ] double check dynamics result
 
diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 815edba4..c27ae0f2 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -312,15 +312,15 @@ def main():
             "map": "Spielberg_blank",
             "num_agents": num_agents,
             "timestep": 0.01,
-            "integrator_timestep": 0.005,
+            "integrator_timestep": 0.01,
             "integrator": "rk4",
             "control_input": ["speed", "steering_angle"],
-            "model": "st", # "ks", "st", "mb"
+            "model": "mb", # "ks", "st", "mb"
             "observation_config": {"type": "direct"},
-            "params": F110Env.f1tenth_vehicle_params(),
-            # "params": F110Env.fullscale_vehicle_params(),
+            # "params": F110Env.f1tenth_vehicle_params(),
+            "params": F110Env.fullscale_vehicle_params(),
             "reset_config": {"type": "rl_random_static"},
-            "map_scale": 1.0,
+            "map_scale": 10.0,
             "enable_rendering": 1,
             "enable_scan": 1,
         },
@@ -331,10 +331,10 @@ def main():
     planner = PurePursuitPlanner(
         track=track,
         wb=(
-            F110Env.f1tenth_vehicle_params()["lf"]
-            + F110Env.f1tenth_vehicle_params()["lr"]
-            # F110Env.fullscale_vehicle_params()["lf"]
-            # + F110Env.fullscale_vehicle_params()["lr"]
+            # F110Env.f1tenth_vehicle_params()["lf"]
+            # + F110Env.f1tenth_vehicle_params()["lr"]
+            F110Env.fullscale_vehicle_params()["lf"]
+            + F110Env.fullscale_vehicle_params()["lr"]
         ),
     )
 
@@ -353,6 +353,7 @@ def main():
     while not done:
         action = env.action_space.sample()
         for i, agent_id in enumerate(obs.keys()):
+            print('agent_id', agent_id)
             speed, steer = planner.plan(
                 obs[agent_id]["std_state"][0],
                 obs[agent_id]["std_state"][1],
@@ -363,6 +364,7 @@ def main():
             action[i] = np.array([steer, speed])
         t1 = time.time()
         obs, step_reward, done, truncated, info = env.step(action)
+        print(obs['agent_0']['state'])
         times.append(1/(time.time() - t1))
         if len(times) > 10000:
             print("FPS:", np.mean(times))
diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
index e96c73ba..5c43adfa 100644
--- a/f1tenth_gym/envs/base_classes.py
+++ b/f1tenth_gym/envs/base_classes.py
@@ -122,7 +122,7 @@ def __init__(
 
         # steering delay buffer
         self.steer_buffer = np.empty((0,))
-        self.steer_buffer_size = self.config['control_delay_buffer_size']
+        self.steer_buffer_size = self.config['steer_delay_buffer_size']
 
         # collision identifier
         self.in_collision = False
@@ -196,7 +196,7 @@ def set_map(self, map: str | Track, map_scale: float = 1.0):
         """
         RaceCar.scan_simulator.set_map(map, map_scale)
 
-    def reset(self, pose):
+    def reset(self, pose, option='pose'):
         """
         Resets the vehicle to a pose
 
@@ -211,8 +211,11 @@ def reset(self, pose):
         self.steer_angle_vel = 0.0
         # clear collision indicator
         self.in_collision = False
-        # init state from pose
-        self.state = self.model.get_initial_state(pose=pose, params=self.params)
+        if option == 'pose':
+            # init state from pose
+            self.state = self.model.get_initial_state(pose=pose, params=self.params)
+        elif option == 'state':
+            self.state = pose
 
         self.steer_buffer = np.empty((0,))
         # reset scan random generator
@@ -575,7 +578,7 @@ def step(self, control_inputs):
                 if agent.in_collision:
                     self.collisions[i] = 1.0
 
-    def reset(self, poses):
+    def reset(self, poses, option='pose'):
         """
         Resets the simulation environment by given poses
 
@@ -593,4 +596,4 @@ def reset(self, poses):
 
         # loop over poses to reset
         for i in range(self.num_agents):
-            self.agents[i].reset(poses[i, :])
+            self.agents[i].reset(poses[i, :], option=option)
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index fcac3a55..97932023 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -406,7 +406,7 @@ def default_config(cls) -> dict:
             "lidar_num_beams": 360,
             "lidar_range": 30.0,
             "lidar_noise_std": 0.01,
-            "control_delay_buffer_size": 1
+            "steer_delay_buffer_size": 1
         }
 
     def configure(self, config: dict) -> None:
@@ -556,13 +556,31 @@ def reset(self, seed=None, options=None):
         # states after reset
         if options is not None and "poses" in options:
             poses = options["poses"]
+            option = "pose"
+        elif options is not None and "state" in options:
+            poses = options["state"]
+            option = "state"
         else:
             poses = self.reset_fn.sample()
-
-        assert isinstance(poses, np.ndarray) and poses.shape == (
-            self.num_agents,
-            3,
-        ), "Initial poses must be a numpy array of shape (num_agents, 3)"
+            option = "pose"
+
+        if option == 'pose':
+            assert isinstance(poses, np.ndarray) and poses.shape == (
+                self.num_agents,
+                3,
+            ), "Initial poses must be a numpy array of shape (num_agents, 3)"
+        elif option == 'state':
+            assert isinstance(poses, np.ndarray) and poses.shape == (
+                self.num_agents,
+                self.model.state_dim,
+            ), f"Initial full state must be a numpy array of shape (num_agents, {self.model.state_dim})"       
+        else:
+            raise ValueError(
+                "Invalid reset option."
+            )
+        
+        # call reset to simulator
+        self.sim.reset(poses, option=option)
 
         self.start_xs = poses[:, 0]
         self.start_ys = poses[:, 1]
@@ -580,11 +598,8 @@ def reset(self, seed=None, options=None):
             ]
         )
 
-        # call reset to simulator
-        self.sim.reset(poses)
-
         # get no input observations
-        action = np.zeros((self.num_agents, 2))
+        action = np.zeros((self.num_agents, self.model.control_dim))
         obs, _, _, _, info = self.step(action)
 
         return obs, info
diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index b0f3fde8..6d72f9c3 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -45,9 +45,9 @@ def space(self):
                 "std_state": gym.spaces.Box(
                     low=-large_num, high=large_num, shape=(7,), dtype=np.float32
                 ),
-                # "dyna_state": gym.spaces.Box(
-                #     low=-large_num, high=large_num, shape=(int(self.env.model.state_dim),), dtype=np.float32
-                # ),
+                "state": gym.spaces.Box(
+                    low=-large_num, high=large_num, shape=(int(self.env.model.state_dim),), dtype=np.float32
+                ),
                 # "frenet_state": gym.spaces.Box(
                 #     low=-large_num, high=large_num, shape=(7,), dtype=np.float32
                 # ),
@@ -81,6 +81,7 @@ def observe(self):
             agent_obs = {
                 "scan": scan,
                 "std_state": agent.standard_state,
+                "state": agent.state,
                 "collision": agent.in_collision,
                 "lap_time": lap_time,
                 "lap_count": lap_count,

From f33fa3c7ba8a15a8e8998e26edf395529add1c26 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Mon, 9 Jun 2025 01:39:53 -0400
Subject: [PATCH 09/54] implemented zoom_in_factor

---
 examples/waypoint_follow.py                  | 24 ++++++++------------
 f1tenth_gym/envs/f110_env.py                 |  3 ++-
 f1tenth_gym/envs/rendering/rendering.yaml    |  2 +-
 f1tenth_gym/envs/rendering/rendering_pyqt.py | 16 +++++++------
 f1tenth_gym/envs/track/raceline.py           |  2 +-
 5 files changed, 23 insertions(+), 24 deletions(-)

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index c27ae0f2..80bde66a 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -301,7 +301,7 @@ def main():
     work = {
         "mass": 3.463388126201571,
         "lf": 0.15597534362552312,
-        "tlad": 0.82461887897713965 * 10,
+        "tlad": 0.82461887897713965,
         "vgain": 0.5,
     }
 
@@ -315,26 +315,26 @@ def main():
             "integrator_timestep": 0.01,
             "integrator": "rk4",
             "control_input": ["speed", "steering_angle"],
-            "model": "mb", # "ks", "st", "mb"
+            "model": "st", # "ks", "st", "mb"
             "observation_config": {"type": "direct"},
-            # "params": F110Env.f1tenth_vehicle_params(),
-            "params": F110Env.fullscale_vehicle_params(),
+            "params": F110Env.f1tenth_vehicle_params(),
+            # "params": F110Env.fullscale_vehicle_params(),
             "reset_config": {"type": "rl_random_static"},
-            "map_scale": 10.0,
+            "map_scale": 1.0,
             "enable_rendering": 1,
             "enable_scan": 1,
         },
-        render_mode="human",
+        render_mode="human_fast",
     )
     track = env.unwrapped.track
 
     planner = PurePursuitPlanner(
         track=track,
         wb=(
-            # F110Env.f1tenth_vehicle_params()["lf"]
-            # + F110Env.f1tenth_vehicle_params()["lr"]
-            F110Env.fullscale_vehicle_params()["lf"]
-            + F110Env.fullscale_vehicle_params()["lr"]
+            F110Env.f1tenth_vehicle_params()["lf"]
+            + F110Env.f1tenth_vehicle_params()["lr"]
+            # F110Env.fullscale_vehicle_params()["lf"]
+            # + F110Env.fullscale_vehicle_params()["lr"]
         ),
     )
 
@@ -353,7 +353,6 @@ def main():
     while not done:
         action = env.action_space.sample()
         for i, agent_id in enumerate(obs.keys()):
-            print('agent_id', agent_id)
             speed, steer = planner.plan(
                 obs[agent_id]["std_state"][0],
                 obs[agent_id]["std_state"][1],
@@ -364,7 +363,6 @@ def main():
             action[i] = np.array([steer, speed])
         t1 = time.time()
         obs, step_reward, done, truncated, info = env.step(action)
-        print(obs['agent_0']['state'])
         times.append(1/(time.time() - t1))
         if len(times) > 10000:
             print("FPS:", np.mean(times))
@@ -384,5 +382,3 @@ def main():
     "tlad": 0.82461887897713965 * 10,
     "vgain": 1,
 }
-
-num_agents = 1
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 97932023..37890ecc 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -406,7 +406,8 @@ def default_config(cls) -> dict:
             "lidar_num_beams": 360,
             "lidar_range": 30.0,
             "lidar_noise_std": 0.01,
-            "steer_delay_buffer_size": 1
+            "steer_delay_buffer_size": 1,
+            "compute_frenet": False,
         }
 
     def configure(self, config: dict) -> None:
diff --git a/f1tenth_gym/envs/rendering/rendering.yaml b/f1tenth_gym/envs/rendering/rendering.yaml
index f434c3f4..556761ae 100644
--- a/f1tenth_gym/envs/rendering/rendering.yaml
+++ b/f1tenth_gym/envs/rendering/rendering.yaml
@@ -1,6 +1,6 @@
 window_size: 800      # [px] width and height of the window
 focus_on: agent_0     # [str] agent id to focus on (e.g., agent_0) or null for map view
-zoom_in_factor: 1.5   # [float] zoom in factor. 1.0 is no zoom, >1.0 is zoom in, <1.0 is zoom out
+zoom_in_factor: 0.5   # [float] zoom in factor. 1.0 is no zoom, >1.0 is zoom in, <1.0 is zoom out
 show_wheels: True     # [bool] it toggles the visualization of the vehicle wheels
 car_tickness: 1       # [px] thickness of the car
 show_info: True       # [bool] it toggles the visualization of the instruction text
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqt.py b/f1tenth_gym/envs/rendering/rendering_pyqt.py
index 0aa685fe..2cb5ee47 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqt.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqt.py
@@ -93,7 +93,7 @@ def __init__(
         self.render_spec = render_spec
         self.render_mode = render_mode
         self.render_fps = render_fps
-
+        
         # create the canvas
         self.app = QtWidgets.QApplication.instance() or QtWidgets.QApplication([])
         self.window = pg.GraphicsLayoutWidget()
@@ -104,7 +104,7 @@ def __init__(
         self.canvas: pg.PlotItem = self.window.addPlot()
 
         # Disable interactivity
-        self.canvas.setMouseEnabled(x=False, y=False)  # Disable mouse panning & zooming
+        self.canvas.setMouseEnabled(x=True, y=True)  # Disable mouse panning & zooming
         self.canvas.hideButtons()  # Disable corner auto-scale button
         self.canvas.setMenuEnabled(False)  # Disable right-click context menu
 
@@ -293,18 +293,20 @@ def render(self) -> Optional[np.ndarray]:
         Optional[np.ndarray]
             if render_mode is "rgb_array", returns the rendered frame as an array
         """
-        # draw cars
-        for i in range(len(self.agent_ids)):
-            self.cars[i].render()
+        
 
         # call callbacks
         for callback_fn in self.callbacks:
             callback_fn(self)
+        
+        # draw cars
+        for i in range(len(self.agent_ids)):
+            self.cars[i].render()
 
         if self.follow_agent_flag:
             ego_x, ego_y = self.cars[self.agent_to_follow].pose[:2]
-            self.canvas.setXRange(ego_x - 10, ego_x + 10)
-            self.canvas.setYRange(ego_y - 10, ego_y + 10)
+            self.canvas.setXRange(ego_x - 10 / self.render_spec.zoom_in_factor, ego_x + 10 / self.render_spec.zoom_in_factor)
+            self.canvas.setYRange(ego_y - 10 / self.render_spec.zoom_in_factor, ego_y + 10 / self.render_spec.zoom_in_factor)
         else:
             self.canvas.autoRange()
             
diff --git a/f1tenth_gym/envs/track/raceline.py b/f1tenth_gym/envs/track/raceline.py
index f6bb997b..fa2410ad 100644
--- a/f1tenth_gym/envs/track/raceline.py
+++ b/f1tenth_gym/envs/track/raceline.py
@@ -192,6 +192,6 @@ def render_waypoints(self, e: EnvRenderer) -> None:
         """
         points = np.stack([self.xs, self.ys], axis=1)
         if self.waypoint_render is None:
-            self.waypoint_render = e.render_closed_lines(points, color=(0, 128, 0), size=1)
+            self.waypoint_render = e.render_closed_lines(points, color=(0, 128, 0), size=2)
         else:
             self.waypoint_render.updateItems(points)

From b030c5ad78abd83637da59190f1daa2edb31d432 Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Mon, 9 Jun 2025 02:23:23 -0400
Subject: [PATCH 10/54] Fix S_key not stopping rendering

---
 f1tenth_gym/envs/rendering/rendering_pyqt.py | 94 +++++++++++---------
 1 file changed, 54 insertions(+), 40 deletions(-)

diff --git a/f1tenth_gym/envs/rendering/rendering_pyqt.py b/f1tenth_gym/envs/rendering/rendering_pyqt.py
index 2cb5ee47..12a76916 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqt.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqt.py
@@ -293,54 +293,68 @@ def render(self) -> Optional[np.ndarray]:
         Optional[np.ndarray]
             if render_mode is "rgb_array", returns the rendered frame as an array
         """
-        
+        if self.draw_flag:
+            # call callbacks
+            for callback_fn in self.callbacks:
+                callback_fn(self)
+            
+            # draw cars
+            for i in range(len(self.agent_ids)):
+                self.cars[i].render()
+
+            if self.follow_agent_flag:
+                ego_x, ego_y = self.cars[self.agent_to_follow].pose[:2]
+                self.canvas.setXRange(ego_x - 10 / self.render_spec.zoom_in_factor, ego_x + 10 / self.render_spec.zoom_in_factor)
+                self.canvas.setYRange(ego_y - 10 / self.render_spec.zoom_in_factor, ego_y + 10 / self.render_spec.zoom_in_factor)
+            else:
+                self.canvas.autoRange()
+                
+            agent_to_follow_id = (
+                self.agent_ids[self.agent_to_follow]
+                if self.agent_to_follow is not None
+                else None
+            )
+            self.bottom_info_renderer.render(
+                text=f"Focus on: {agent_to_follow_id}"
+            )
 
-        # call callbacks
-        for callback_fn in self.callbacks:
-            callback_fn(self)
-        
-        # draw cars
-        for i in range(len(self.agent_ids)):
-            self.cars[i].render()
+            if self.render_spec.show_info:
+                self.top_info_renderer.render(text=INSTRUCTION_TEXT)
 
-        if self.follow_agent_flag:
-            ego_x, ego_y = self.cars[self.agent_to_follow].pose[:2]
-            self.canvas.setXRange(ego_x - 10 / self.render_spec.zoom_in_factor, ego_x + 10 / self.render_spec.zoom_in_factor)
-            self.canvas.setYRange(ego_y - 10 / self.render_spec.zoom_in_factor, ego_y + 10 / self.render_spec.zoom_in_factor)
-        else:
-            self.canvas.autoRange()
-            
-        agent_to_follow_id = (
-            self.agent_ids[self.agent_to_follow]
-            if self.agent_to_follow is not None
-            else None
-        )
-        self.bottom_info_renderer.render(
-            text=f"Focus on: {agent_to_follow_id}"
-        )
+            self.time_renderer.render(text=f"{self.sim_time:.2f}")
+            self.clock.update()
+            self.app.processEvents()
 
-        if self.render_spec.show_info:
-            self.top_info_renderer.render(text=INSTRUCTION_TEXT)
+            if self.render_mode in ["human", "human_fast"]:
+                assert self.window is not None
 
-        self.time_renderer.render(text=f"{self.sim_time:.2f}")
-        self.clock.update()
-        self.app.processEvents()
+            else:  
+                # rgb_array mode => extract the frame from the canvas
+                qImage = self.exporter.export(toBytes=True)
 
-        if self.render_mode in ["human", "human_fast"]:
-            assert self.window is not None
+                width = qImage.width()
+                height = qImage.height()
 
-        else:  
-            # rgb_array mode => extract the frame from the canvas
-            qImage = self.exporter.export(toBytes=True)
+                ptr = qImage.bits()
+                ptr.setsize(height * width * 4)
+                frame = np.array(ptr).reshape(height, width, 4)  #  Copies the data
+                
+                return frame[:, :, :3] # remove alpha channel
+        else:
+            self.clock.update()
+            self.app.processEvents()
 
-            width = qImage.width()
-            height = qImage.height()
+            # if draw_flag is False, we just return the current frame without rendering anything
+            if self.render_mode == "rgb_array":
+                qImage = self.exporter.export(toBytes=True)
 
-            ptr = qImage.bits()
-            ptr.setsize(height * width * 4)
-            frame = np.array(ptr).reshape(height, width, 4)  #  Copies the data
-            
-            return frame[:, :, :3] # remove alpha channel
+                width = qImage.width()
+                height = qImage.height()
+
+                ptr = qImage.bits()
+                ptr.setsize(height * width * 4)
+                frame = np.array(ptr).reshape(height, width, 4)
+                return frame[:, :, :3]  # remove alpha channel
 
     def render_points(
         self,

From c9d1d230acf52360b6c5e0a2268ebc2e665490ee Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Mon, 9 Jun 2025 05:40:09 -0400
Subject: [PATCH 11/54] changed renderer class structure

---
 examples/test_pyqtopengl.py                   | 116 ++++++
 examples/waypoint_follow.py                   |  17 +-
 f1tenth_gym/envs/f110_env.py                  |  40 +-
 f1tenth_gym/envs/observation.py               |  18 +-
 f1tenth_gym/envs/rendering/__init__.py        |   6 +-
 f1tenth_gym/envs/rendering/pyqt_objects.py    |  91 ++++-
 f1tenth_gym/envs/rendering/pyqtgl_objects.py  | 373 ++++++++++++++++++
 f1tenth_gym/envs/rendering/renderer.py        |  67 ++--
 f1tenth_gym/envs/rendering/rendering.yaml     |   2 +-
 f1tenth_gym/envs/rendering/rendering_pyqt.py  | 118 ++----
 .../envs/rendering/rendering_pyqtgl.py        | 104 +++++
 f1tenth_gym/envs/track/raceline.py            |   8 +-
 12 files changed, 785 insertions(+), 175 deletions(-)
 create mode 100644 examples/test_pyqtopengl.py
 create mode 100644 f1tenth_gym/envs/rendering/pyqtgl_objects.py
 create mode 100644 f1tenth_gym/envs/rendering/rendering_pyqtgl.py

diff --git a/examples/test_pyqtopengl.py b/examples/test_pyqtopengl.py
new file mode 100644
index 00000000..6d1e4690
--- /dev/null
+++ b/examples/test_pyqtopengl.py
@@ -0,0 +1,116 @@
+import sys
+import time
+import numpy as np
+from PyQt6 import QtWidgets, QtCore, QtGui
+import pyqtgraph.opengl as gl
+
+
+class OpenGLRectangleWithFPS(QtWidgets.QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle("OpenGL Filled Rectangle with FPS")
+
+        # Set up GL view widget
+        self.view = gl.GLViewWidget()
+        self.setCentralWidget(self.view)
+
+        # Fix camera to XY view
+        self.view.opts['elevation'] = 90  # Top-down
+        self.view.opts['azimuth'] = 0     # Facing +Y
+        self.view.setCameraPosition(distance=40)
+
+        # 🔧 Replace mouse drag behavior: allow pan (right drag), disable rotation
+        self._enable_pan_only()
+
+        # Define rectangle corners (XY plane, z=0)
+        rectangle = np.array([
+            [0, 0, 0],
+            [5, 0, 0],
+            [5, 3, 0],
+            [0, 3, 0]
+        ], dtype=np.float32)
+
+        # Line outline
+        outline = np.vstack([rectangle, rectangle[0]])
+        rect_item = gl.GLLinePlotItem(pos=outline, color=(1, 0, 0, 1), width=2, mode='line_strip')
+        self.view.addItem(rect_item)
+
+        # Fill with GLMeshItem
+        faces = np.array([
+            [0, 1, 2],
+            [0, 2, 3]
+        ])
+        mesh_item = gl.GLMeshItem(
+            vertexes=rectangle,
+            faces=faces,
+            faceColors=np.array([[0, 0.7, 0.9, 0.6], [0, 0.7, 0.9, 0.6]]),
+            smooth=False,
+            drawEdges=False
+        )
+        self.view.addItem(mesh_item)
+
+        # FPS label
+        self.fps_label = QtWidgets.QLabel(self)
+        self.fps_label.setStyleSheet("color: white; background-color: black; padding: 2px;")
+        self.fps_label.move(10, 10)
+        self.fps_label.resize(100, 20)
+        self.fps_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
+
+        # Frame timer
+        self.last_time = time.time()
+        self.frame_count = 0
+
+        self.timer = QtCore.QTimer()
+        self.timer.timeout.connect(self.update_fps)
+        self.timer.start(0)
+
+    def _enable_pan_only(self):
+        """Override GLViewWidget events to disable rotation and allow right-click panning."""
+        self.view.pan_active = False
+        self.view.pan_start = QtCore.QPoint()
+
+        def mousePressEvent(event):
+            if event.button() == QtCore.Qt.MouseButton.LeftButton:
+                self.view.pan_active = True
+                self.view.pan_start = event.pos()
+                event.accept()
+            else:
+                event.ignore()
+
+        def mouseMoveEvent(event):
+            if self.view.pan_active:
+                delta = event.pos() - self.view.pan_start
+                dx = -delta.y() * 0.01
+                dy = -delta.x() * 0.01
+                self.view.pan(dx, dy, 0)
+                self.view.pan_start = event.pos()
+                event.accept()
+            else:
+                event.ignore()
+
+        def mouseReleaseEvent(event):
+            self.view.pan_active = False
+            event.accept()
+
+        self.view.mousePressEvent = mousePressEvent
+        self.view.mouseMoveEvent = mouseMoveEvent
+        self.view.mouseReleaseEvent = mouseReleaseEvent
+
+    def update_fps(self):
+        self.frame_count += 1
+        now = time.time()
+        elapsed = now - self.last_time
+        if elapsed >= 1.0:
+            fps = self.frame_count / elapsed
+            self.fps_label.setText(f"FPS: {fps:.1f}")
+            self.last_time = now
+            self.frame_count = 0
+        self.view.update()
+
+
+if __name__ == "__main__":
+    app = QtWidgets.QApplication(sys.argv)
+    window = OpenGLRectangleWithFPS()
+    window.resize(800, 600)
+    window.show()
+    sys.exit(app.exec())
diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 80bde66a..19a0ba10 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -207,11 +207,11 @@ def render_lookahead_point(self, e):
         if self.lookahead_point is not None:
             points = self.lookahead_point[:2][None]  # shape (1, 2)~
             if self.lookahead_point_render is None:
-                self.lookahead_point_render = e.render_points(
-                    points, color=(0, 0, 128), size=2
+                self.lookahead_point_render = e.get_points_renderer(
+                    points, color=(200, 0, 0), size=5
                 )
             else:
-                self.lookahead_point_render.setData(points)
+                self.lookahead_point_render.update(points)
 
     def render_local_plan(self, e):
         """
@@ -220,11 +220,14 @@ def render_local_plan(self, e):
         if self.current_index is not None:
             points = self.waypoints[self.current_index : self.current_index + 10, :2]
             if self.local_plan_render is None:
-                self.local_plan_render = e.render_lines(
+                self.local_plan_render = e.get_lines_renderer(
                     points, color=(0, 128, 0), size=1
                 )
             else:
-                self.local_plan_render.updateItems(points)
+                self.local_plan_render.update(points)
+                
+    def get_render_callbacks(self):
+        return [self.render_lookahead_point, self.render_local_plan]
 
     def _get_current_waypoint(
         self, waypoints, lookahead_distance, position, theta
@@ -339,8 +342,8 @@ def main():
     )
 
     env.unwrapped.add_render_callback(track.raceline.render_waypoints)
-    env.unwrapped.add_render_callback(planner.render_local_plan)
-    env.unwrapped.add_render_callback(planner.render_lookahead_point)
+    for r in planner.get_render_callbacks():
+        env.unwrapped.add_render_callback(r)
 
     obs, info = env.reset()
     done = False
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 37890ecc..0a51c19a 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -116,7 +116,7 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         # race info
         self.lap_times = np.zeros((self.num_agents,))
         self.lap_counts = np.zeros((self.num_agents,))
-        self.current_time = 0.0
+        self.sim_time = 0.0
 
         # finish line info
         self.num_toggles = 0
@@ -170,7 +170,7 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
 
         # stateful observations for rendering
         # add choice of colors (same, random, ...)
-        self.render_obs = None
+        self.obs = None
         self.render_mode = render_mode
 
         # match render_fps to integration timestep
@@ -465,7 +465,7 @@ def _check_done(self):
                 self.toggle_list[i] += 1
             self.lap_counts[i] = self.toggle_list[i] // 2
             if self.toggle_list[i] < 4:
-                self.lap_times[i] = self.current_time
+                self.lap_times[i] = self.sim_time
 
         done = (self.collisions[self.ego_idx]) or np.all(self.toggle_list >= 4)
 
@@ -498,35 +498,35 @@ def step(self, action):
         self.sim.step(action)
 
         # observation
-        obs = self.observation_type.observe()
+        self.obs = self.observation_type.observe()
 
         # times
         reward = self.timestep
-        self.current_time = self.current_time + self.timestep
+        self.sim_time = self.sim_time + self.timestep
 
         # update data member
         self._update_state()
 
         # rendering observation
-        if self.config["enable_rendering"]:
-            self.render_obs = {
-                "ego_idx": self.sim.ego_idx,
-                "poses_x": self.sim.agent_poses[:, 0],
-                "poses_y": self.sim.agent_poses[:, 1],
-                "poses_theta": self.sim.agent_poses[:, 2],
-                "steering_angles": self.sim.agent_steerings,
-                "lap_times": self.lap_times,
-                "lap_counts": self.lap_counts,
-                "collisions": self.sim.collisions,
-                "sim_time": self.current_time,
-            }
+        # if self.config["enable_rendering"]:
+        #     self.render_obs = {
+        #         "ego_idx": self.sim.ego_idx,
+        #         "poses_x": self.sim.agent_poses[:, 0],
+        #         "poses_y": self.sim.agent_poses[:, 1],
+        #         "poses_theta": self.sim.agent_poses[:, 2],
+        #         "steering_angles": self.sim.agent_steerings,
+        #         "lap_times": self.lap_times,
+        #         "lap_counts": self.lap_counts,
+        #         "collisions": self.sim.collisions,
+        #         "sim_time": self.sim_time,
+        #     }
 
         # check done
         done, toggle_list = self._check_done()
         truncated = False
         info = {"checkpoint_done": toggle_list}
 
-        return obs, reward, done, truncated, info
+        return self.obs, reward, done, truncated, info
 
     def reset(self, seed=None, options=None):
         """
@@ -547,7 +547,7 @@ def reset(self, seed=None, options=None):
         super().reset(seed=seed)
 
         # reset counters and data members
-        self.current_time = 0.0
+        self.sim_time = 0.0
         self.collisions = np.zeros((self.num_agents,))
         self.num_toggles = 0
         self.near_start = True
@@ -658,7 +658,7 @@ def render(self, mode="human"):
         if self.render_mode not in self.metadata["render_modes"] or not self.config["enable_rendering"]:
             return
 
-        self.renderer.update(state=self.render_obs)
+        self.renderer.update(obs=self.obs)
         return self.renderer.render()
 
     def close(self):
diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index 6d72f9c3..d7ba792f 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -60,6 +60,9 @@ def space(self):
                 "lap_count": gym.spaces.Box(
                     low=0.0, high=large_num, shape=(), dtype=np.float32
                 ),
+                "sim_time": gym.spaces.Box(
+                    low=0.0, high=large_num, shape=(), dtype=np.float32
+                ),
             }
             complete_space[agent_id] = gym.spaces.Dict(
                 agent_dict
@@ -74,8 +77,6 @@ def observe(self):
         for i, agent_id in enumerate(self.env.unwrapped.agent_ids):
             scan = self.env.unwrapped.sim.agent_scans[i]
             agent = self.env.unwrapped.sim.agents[i]
-            lap_time = self.env.unwrapped.lap_times[i]
-            lap_count = self.env.unwrapped.lap_counts[i]
 
             # create agent's observation dict
             agent_obs = {
@@ -83,17 +84,17 @@ def observe(self):
                 "std_state": agent.standard_state,
                 "state": agent.state,
                 "collision": agent.in_collision,
-                "lap_time": lap_time,
-                "lap_count": lap_count,
+                "lap_time": self.env.unwrapped.lap_times[i],
+                "lap_count": self.env.unwrapped.lap_counts[i],
+                "sim_time": self.env.unwrapped.sim_time,
             }
 
             # add agent's observation to multi-agent observation
             obs[agent_id] = agent_obs
-
+            
             # cast to match observation space
             for key in obs[agent_id].keys():
                 obs[agent_id][key] = np.array(obs[agent_id][key], dtype=np.float32)
-
         return obs
 
 class OriginalObservation(Observation):
@@ -162,6 +163,9 @@ def space(self):
                 "lap_counts": gym.spaces.Box(
                     low=0.0, high=large_num, shape=(num_agents,), dtype=np.float32
                 ),
+                "sim_time": gym.spaces.Box(
+                    low=0.0, high=large_num, shape=(), dtype=np.float32
+                ),
             }
         )
 
@@ -185,6 +189,7 @@ def observe(self):
             "collisions": [],
             "lap_times": [],
             "lap_counts": [],
+            "sim_time": [],
         }
 
         for i, agent in enumerate(self.env.unwrapped.sim.agents):
@@ -209,6 +214,7 @@ def observe(self):
             observations["collisions"].append(collision)
             observations["lap_times"].append(lap_time)
             observations["lap_counts"].append(lap_count)
+            observations["sim_time"].append(self.env.unwrapped.sim_time)
 
         # cast to match observation space
         for key in observations.keys():
diff --git a/f1tenth_gym/envs/rendering/__init__.py b/f1tenth_gym/envs/rendering/__init__.py
index 2325a937..28e3238e 100644
--- a/f1tenth_gym/envs/rendering/__init__.py
+++ b/f1tenth_gym/envs/rendering/__init__.py
@@ -32,12 +32,16 @@ def make_renderer(
     cfg_file = pathlib.Path(__file__).parent.absolute() / "rendering.yaml"
     render_spec = RenderSpec.from_yaml(cfg_file)
 
-    if render_spec.render_type == "pygame":
+    if render_spec.render_type == "pygame": 
         from .rendering_pygame import PygameEnvRenderer as EnvRenderer
     elif render_spec.render_type == "pyqt6":
         if render_mode in ["rgb_array", "rgb_array_list"]:
             os.environ["QT_QPA_PLATFORM"] = "offscreen"
         from .rendering_pyqt import PyQtEnvRenderer as EnvRenderer
+    # elif render_spec.render_type == "pyqt6gl":
+    #     if render_mode in ["rgb_array", "rgb_array_list"]:
+    #         os.environ["QT_QPA_PLATFORM"] = "offscreen"
+        # from .rendering_pyqtgl import PyQtEnvRendererGL as EnvRenderer
     else:
         raise ValueError(f"Unknown render type: {render_spec.render_type}")
 
diff --git a/f1tenth_gym/envs/rendering/pyqt_objects.py b/f1tenth_gym/envs/rendering/pyqt_objects.py
index 7f437252..fe0d2e06 100644
--- a/f1tenth_gym/envs/rendering/pyqt_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqt_objects.py
@@ -2,16 +2,75 @@
 import numpy as np
 import pyqtgraph as pg
 
-from PyQt6.QtWidgets import QGraphicsRectItem, QGraphicsPolygonItem
-from PyQt6 import QtGui
+# from PyQt6.QtWidgets import QGraphicsRectItem, QGraphicsPolygonItem
+# from PyQt6 import QtGui
 
-from .renderer import RenderSpec
+from .renderer import RenderSpec, EnvRenderer, ObjectRenderer
 from ..collision_models import get_vertices, get_trmtx
+from typing import Optional, Any
 
 from numba import njit
 
 
-class TextObject:
+class LinesRenderer(ObjectRenderer):
+    def __init__(
+        self, 
+        env_renderer: EnvRenderer,
+        points: list | np.ndarray, 
+        color: Optional[tuple[int, int, int]] = (0, 0, 255), 
+        size: Optional[int] = 1
+        ):
+        pen = pg.mkPen(color=pg.mkColor(*color), width=size)
+        self.renderer = env_renderer.canvas.plot(
+            points[:, 0], points[:, 1], pen=pen, fillLevel=None, antialias=True
+        )
+        
+    def update(self, points: list | np.ndarray) -> None:
+        self.renderer.updateItems(points)
+        
+class ClosedLinesRenderer(ObjectRenderer):
+    def __init__(
+        self, 
+        env_renderer: EnvRenderer,
+        points: list | np.ndarray, 
+        color: Optional[tuple[int, int, int]] = (0, 0, 255), 
+        size: Optional[int] = 1
+        ):
+        # Append the first point to the end to close the loop
+        points = np.vstack([points, points[0]])
+        pen = pg.mkPen(color=pg.mkColor(*color), width=size)
+        pen.setCapStyle(pg.QtCore.Qt.PenCapStyle.RoundCap)
+        pen.setJoinStyle(pg.QtCore.Qt.PenJoinStyle.RoundJoin)
+        self.renderer = env_renderer.canvas.plot(
+            points[:, 0], points[:, 1], pen=pen, cosmetic=True, antialias=True
+        ) ## setting pen=None disables line drawing
+        
+    def update(self, points: list | np.ndarray) -> None:
+        self.renderer.updateItems(points)
+
+class PointsRenderer(ObjectRenderer):
+    def __init__(
+        self, 
+        env_renderer: EnvRenderer,
+        points: list | np.ndarray, 
+        color: Optional[tuple[int, int, int]] = (0, 0, 255), 
+        size: Optional[int] = 1
+        ):
+        self.renderer = env_renderer.canvas.plot(
+            points[:, 0],
+            points[:, 1],
+            pen=None,
+            symbol="o",
+            symbolPen=pg.mkPen(color=color, width=0),
+            symbolBrush=pg.mkBrush(color=color, width=0),
+            symbolSize=size,
+        )
+        
+    def update(self, points: list | np.ndarray) -> None:
+        self.renderer.setData(points)
+
+
+class TextRenderer(ObjectRenderer):
     """
     Class to display text on the screen at a given position.
 
@@ -24,7 +83,6 @@ class TextObject:
     text : pygame.Surface
         text surface to be displayed
     """
-
     def __init__(
         self,
         position: str | tuple,
@@ -45,7 +103,6 @@ def __init__(
             font name, by default "Arial"
         """
         self.position = position
-
         self.text_label = pg.LabelItem("", parent=parent, size=str(relative_font_size) + 'pt', family=font_name, color=(125, 125, 125)) # create text label
         # Get the position and offset of the text
         position_tuple = self._position_resolver(self.position)
@@ -146,6 +203,9 @@ def _offset_resolver(
             raise ValueError(
                 f"Position expected to be a tuple[int, int] or a string. Got {position}."
             )
+    
+    def update(self) -> None:
+        pass
         
     def render(self, text: str) -> None:
         """
@@ -213,11 +273,10 @@ def _get_tire_vertices(pose, length, width, tire_width, tire_length, index, stee
 
     return vertices
     
-class Car:
+class CarRenderer(ObjectRenderer):
     """
     Class to display the car.
     """
-
     def __init__(
         self,
         render_spec: RenderSpec,
@@ -275,14 +334,15 @@ def __init__(
                 brush=(0,0,0), # Rubber tire => Black
             )
 
-    def update(self, state: dict[str, np.ndarray], idx: int):
+    def update(self, obs: dict[str, np.ndarray], id: str):        
+        state = obs[id]["std_state"].astype(float)
         self.pose = (
-            state["poses_x"][idx],
-            state["poses_y"][idx],
-            state["poses_theta"][idx],
+            state[0],
+            state[1],
+            state[4],
         )
-        self.color = (255, 0, 0) if state["collisions"][idx] > 0 else self.color
-        self.steering = state["steering_angles"][idx]
+        self.color = (255, 0, 0) if obs[id]["collision"] > 0 else self.color
+        self.steering = state[2]
 
     def render(self):
         vertices = get_vertices(self.pose, self.car_length, self.car_width)
@@ -305,3 +365,6 @@ def render(self):
 
 
 
+
+
+        
\ No newline at end of file
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
new file mode 100644
index 00000000..092fabdf
--- /dev/null
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -0,0 +1,373 @@
+from __future__ import annotations
+import numpy as np
+# from PyQt6.QtWidgets import QGraphicsRectItem, QGraphicsPolygonItem
+# from PyQt6 import QtGui
+from pyqtgraph.opengl import GLLinePlotItem
+
+from .renderer import RenderSpec, EnvRenderer, ObjectRenderer
+from ..collision_models import get_vertices, get_trmtx
+from typing import Optional, Any
+
+from numba import njit
+
+
+class LinesRenderer(ObjectRenderer):
+    def __init__(
+        self, 
+        env_renderer: EnvRenderer,
+        points: list | np.ndarray, 
+        color: Optional[tuple[int, int, int]] = (0, 0, 255), 
+        size: Optional[int] = 1
+        ):
+        pen = pg.mkPen(color=pg.mkColor(*color), width=size)
+        self.renderer = env_renderer.canvas.plot(
+            points[:, 0], points[:, 1], pen=pen, fillLevel=None, antialias=True
+        )
+        
+    def update(self, points: list | np.ndarray) -> None:
+        self.renderer.updateItems(points)
+        
+class ClosedLinesRenderer(ObjectRenderer):
+    def __init__(
+        self, 
+        env_renderer: EnvRenderer,
+        points: list | np.ndarray, 
+        color: Optional[tuple[int, int, int]] = (0, 0, 255), 
+        size: Optional[int] = 1
+        ):
+        # Append the first point to the end to close the loop
+        points = np.vstack([points, points[0]])
+        pen = pg.mkPen(color=pg.mkColor(*color), width=size)
+        pen.setCapStyle(pg.QtCore.Qt.PenCapStyle.RoundCap)
+        pen.setJoinStyle(pg.QtCore.Qt.PenJoinStyle.RoundJoin)
+        self.renderer = env_renderer.canvas.plot(
+            points[:, 0], points[:, 1], pen=pen, cosmetic=True, antialias=True
+        ) ## setting pen=None disables line drawing
+        
+    def update(self, points: list | np.ndarray) -> None:
+        self.renderer.updateItems(points)
+
+class PointsRenderer(ObjectRenderer):
+    def __init__(
+        self, 
+        env_renderer: EnvRenderer,
+        points: list | np.ndarray, 
+        color: Optional[tuple[int, int, int]] = (0, 0, 255), 
+        size: Optional[int] = 1
+        ):
+        self.renderer = env_renderer.canvas.plot(
+            points[:, 0],
+            points[:, 1],
+            pen=None,
+            symbol="o",
+            symbolPen=pg.mkPen(color=color, width=0),
+            symbolBrush=pg.mkBrush(color=color, width=0),
+            symbolSize=size,
+        )
+        
+    def update(self, points: list | np.ndarray) -> None:
+        self.renderer.setData(points)
+
+
+class TextRenderer(ObjectRenderer):
+    """
+    Class to display text on the screen at a given position.
+
+    Attributes
+    ----------
+    font : pygame.font.Font
+        font object
+    position : str | tuple
+        position of the text on the screen
+    text : pygame.Surface
+        text surface to be displayed
+    """
+    def __init__(
+        self,
+        position: str | tuple,
+        relative_font_size: int = 16,
+        font_name: str = "Arial",
+        parent: pg.PlotWidget = None,
+    ) -> None:
+        """
+        Initialize text object.
+
+        Parameters
+        ----------
+        position : str | tuple
+            position of the text on the screen
+        relative_font_size : int, optional
+            font size relative to the window shape, by default 32
+        font_name : str, optional
+            font name, by default "Arial"
+        """
+        self.position = position
+        self.text_label = pg.LabelItem("", parent=parent, size=str(relative_font_size) + 'pt', family=font_name, color=(125, 125, 125)) # create text label
+        # Get the position and offset of the text
+        position_tuple = self._position_resolver(self.position)
+        offset_tuple = self._offset_resolver(self.position, self.text_label)
+        # Set the position and offset of the text
+        self.text_label.anchor(itemPos=position_tuple, parentPos=position_tuple, offset=offset_tuple)
+
+    def _position_resolver(
+        self, position: str | tuple[int, int]
+    ) -> tuple[int, int]:
+        """
+        This function takes strings like "bottom center" and converts them into a location for the text to be displayed.
+        If position is tuple, then passthrough.
+
+        Parameters
+        ----------
+        position : str | tuple
+            position of the text on the screen
+
+        Returns
+        -------
+        tuple
+            position of the text on the screen
+
+        Raises
+        ------
+        ValueError
+            if position is not a tuple or a string
+        NotImplementedError
+            if position is a string but not implemented
+        """
+        if isinstance(position, tuple) and len(position) == 2:
+            return int(position[0]), int(position[1])
+        elif isinstance(position, str):
+            position = position.lower()
+            if position == "bottom_right":
+                return (1, 1)
+            elif position == "bottom_left":
+                return (0, 1)
+            elif position == "bottom_center":
+                return (0.5, 1)
+            elif position == "top_right":
+                return (1, 0)
+            elif position == "top_left":
+                return (0, 0)
+            elif position == "top_center":
+                return (0.5, 0)
+            else:
+                raise NotImplementedError(f"Position {position} not implemented.")
+        else:
+            raise ValueError(
+                f"Position expected to be a tuple[int, int] or a string. Got {position}."
+            )
+
+    def _offset_resolver(
+        self, position: str | tuple[int, int], text_label: pg.LabelItem
+    ) -> tuple[int, int]:
+        """
+        This function takes strings like "bottom center" and converts them into a location for the text to be displayed.
+        If position is tuple, then passthrough.
+
+        Parameters
+        ----------
+        position : str | tuple
+            position of the text on the screen
+
+        Returns
+        -------
+        tuple
+            position of the text on the screen
+
+        Raises
+        ------
+        ValueError
+            if position is not a tuple or a string
+        NotImplementedError
+            if position is a string but not implemented
+        """
+        if isinstance(position, tuple) and len(position) == 2:
+            return int(position[0]), int(position[1])
+        elif isinstance(position, str):
+            position = position.lower()
+            if position == "bottom_right":
+                return (-text_label.width(), 0)
+            elif position == "bottom_left":
+                return (0, 0)
+            elif position == "bottom_center":
+                return (-text_label.width()/2, 0)
+            elif position == "top_right":
+                return (-text_label.width(), 0)
+            elif position == "top_left":
+                return (0, 0)
+            elif position == "top_center":
+                return (-text_label.width()/2, 0)
+            else:
+                raise NotImplementedError(f"Position {position} not implemented.")
+        else:
+            raise ValueError(
+                f"Position expected to be a tuple[int, int] or a string. Got {position}."
+            )
+    
+    def update(self) -> None:
+        pass
+        
+    def render(self, text: str) -> None:
+        """
+        Render text on the screen.
+
+        Parameters
+        ----------
+        text : str
+            text to be displayed                 
+        """
+        self.text_label.setText(text)
+
+class CarRendererGL:
+    """
+    Car renderer using PyQtGraph OpenGL backend.
+    """
+    def __init__(
+        self,
+        render_spec,
+        map_origin: tuple[float, float],
+        resolution: float,
+        car_length: float,
+        car_width: float,
+        color: Optional[list[int]] = None,
+        wheel_size: float = 0.2,
+        parent=None,  # parent is GLViewWidget
+    ):
+        self.car_length = car_length
+        self.car_width = car_width
+        self.wheel_size = wheel_size
+        self.car_thickness = render_spec.car_tickness
+        self.show_wheels = render_spec.show_wheels
+
+        self.origin = map_origin
+        self.resolution = resolution
+        self.color = color or (0, 0, 0)
+        self.pose = (0, 0, 0)
+        self.steering = 0
+
+        self.tire_width = 0.1
+        self.tire_length = self.wheel_size
+
+        # Construct chassis
+        vertices = self._get_chassis_vertices(self.pose)
+        self.chassis = GLLinePlotItem(
+            pos=vertices,
+            color=self._color_rgba(self.color),
+            width=self.car_thickness,
+            antialias=True,
+            mode='line_strip'
+        )
+        parent.addItem(self.chassis)
+
+        # Optional wheels
+        if self.show_wheels:
+            fl = self._get_tire_vertices(self.pose, 'fl', self.steering)
+            self.fl_wheel = GLLinePlotItem(
+                pos=fl,
+                color=(0, 0, 0, 1),
+                width=self.car_thickness,
+                antialias=True,
+                mode='line_strip'
+            )
+            parent.addItem(self.fl_wheel)
+
+            fr = self._get_tire_vertices(self.pose, 'fr', self.steering)
+            self.fr_wheel = GLLinePlotItem(
+                pos=fr,
+                color=(0, 0, 0, 1),
+                width=self.car_thickness,
+                antialias=True,
+                mode='line_strip'
+            )
+            parent.addItem(self.fr_wheel)
+
+    def update(self, obs: dict, agent_id: str):
+        state = obs[agent_id]["std_state"].astype(float)
+        self.pose = (state[0], state[1], state[4])
+        if obs[agent_id]["collision"] > 0:
+            self.color = (255, 0, 0)
+        self.steering = state[2]
+
+    def render(self):
+        vertices = self._get_chassis_vertices(self.pose)
+        self.chassis.setData(pos=vertices)
+
+        if self.show_wheels:
+            self.fl_wheel.setData(pos=self._get_tire_vertices(self.pose, 'fl', self.steering))
+            self.fr_wheel.setData(pos=self._get_tire_vertices(self.pose, 'fr', self.steering))
+
+    def _get_chassis_vertices(self, pose):
+        verts = get_vertices(pose, self.car_length, self.car_width)
+        verts = np.array([verts[0], verts[3], verts[2], verts[1], verts[0]])  # closed loop
+        verts = np.hstack([verts, np.zeros((verts.shape[0], 1))])  # z=0
+        return verts
+
+    def _get_tire_vertices(self, pose, wheel_pos, steering):
+        verts = _get_tire_vertices(
+            pose, self.car_length, self.car_width,
+            self.tire_width, self.tire_length,
+            wheel_pos, steering
+        )
+        verts = np.vstack([verts, verts[0]])  # close loop
+        verts = np.hstack([verts, np.zeros((verts.shape[0], 1))])
+        return verts
+
+    def _color_rgba(self, rgb):
+        return (rgb[0] / 255, rgb[1] / 255, rgb[2] / 255, 1.0)
+    
+
+
+
+@njit(cache=True)
+def _get_tire_vertices(pose, length, width, tire_width, tire_length, index, steering):
+    """
+    Utility function to return vertices of the car's tire given pose and size
+
+    Args:
+        pose (np.ndarray, (3, )): current world coordinate pose of the vehicle
+        length (float): car length
+        width (float): car width
+
+    Returns:
+        vertices (np.ndarray, (4, 2)): corner vertices of the vehicle body
+    """
+    pose_arr = np.array(pose)
+    if index == 'fl':
+        # Shift back, rotate
+        H_shift = get_trmtx(np.array([-(length/2 - tire_length/2), -(width/2 - tire_width/2), 0]))
+        H_steer = get_trmtx(np.array([0, 0, steering]))
+        H_back = get_trmtx(np.array([length/2 - tire_length/2, width/2 - tire_width/2, 0]))
+        H = get_trmtx(pose_arr)
+        H = H.dot(H_back).dot(H_steer).dot(H_shift)
+        fl = H.dot(np.asarray([[length / 2], [width / 2], [0.0], [1.0]])).flatten()
+        fr = H.dot(np.asarray([[length / 2], [width / 2 - tire_width], [0.0], [1.0]])).flatten()
+        rr = H.dot(np.asarray([[length / 2 - tire_length], [width / 2 - tire_width], [0.0], [1.0]])).flatten()
+        rl = H.dot(np.asarray([[length / 2 - tire_length], [width / 2], [0.0], [1.0]])).flatten()
+        rl = rl / rl[3]
+        rr = rr / rr[3]
+        fl = fl / fl[3]
+        fr = fr / fr[3]
+        vertices = np.asarray(
+            [[rl[0], rl[1]], [fl[0], fl[1]], [fr[0], fr[1]], [rr[0], rr[1]], [rl[0], rl[1]]]
+        )
+    elif index == 'fr':
+        # Shift back, rotate
+        H_shift = get_trmtx(np.array([-(length/2 - tire_length/2), -(-width/2 + tire_width/2), 0]))
+        H_steer = get_trmtx(np.array([0, 0, steering]))
+        H_back = get_trmtx(np.array([length/2 - tire_length/2, -width/2 + tire_width/2, 0]))
+        H = get_trmtx(pose_arr)
+        H = H.dot(H_back).dot(H_steer).dot(H_shift)
+
+        fl = H.dot(np.asarray([[length / 2], [-width / 2 + tire_width], [0.0], [1.0]])).flatten()
+        fr = H.dot(np.asarray([[length / 2], [-width / 2], [0.0], [1.0]])).flatten()
+        rr = H.dot(np.asarray([[length / 2 - tire_length], [-width / 2], [0.0], [1.0]])).flatten()
+        rl = H.dot(np.asarray([[length / 2 - tire_length], [-width / 2 + tire_width], [0.0], [1.0]])).flatten()
+        rl = rl / rl[3]
+        rr = rr / rr[3]
+        fl = fl / fl[3]
+        fr = fr / fr[3]
+        # As it is only used for rendering, we can reorder the vertices and append the first point to close the polygon
+        vertices = np.asarray(
+            [[rl[0], rl[1]], [fl[0], fl[1]], [fr[0], fr[1]], [rr[0], rr[1]], [rl[0], rl[1]]]
+        )
+
+    return vertices
\ No newline at end of file
diff --git a/f1tenth_gym/envs/rendering/renderer.py b/f1tenth_gym/envs/rendering/renderer.py
index a936ed08..d4bd81a1 100644
--- a/f1tenth_gym/envs/rendering/renderer.py
+++ b/f1tenth_gym/envs/rendering/renderer.py
@@ -86,19 +86,30 @@ class EnvRenderer(ABC):
     """
     Abstract class for rendering the environment.
     """
+    @abstractmethod
+    def add_renderer_callback(self, callback_fn):
+        """
+        Add a custom callback for visualization.
 
+        Parameters
+        ----------
+        callback_fn : Callable[[EnvRenderer], None]
+            callback function to be called at every rendering step
+        """
+        raise NotImplementedError()
+    
     @abstractmethod
-    def update(self, state: Any) -> None:
+    def update(self, obs: dict) -> None:
         """
         Update the state to be rendered.
         This is called at every rendering call.
 
         Parameters
         ----------
-        state : Any
-            state to be rendered, e.g. a list of vehicle states
+        obs : dict
+            observations from the env to be rendered
         """
-        raise NotImplementedError()
+        raise NotImplementedError()    
 
     @abstractmethod
     def render(self):
@@ -108,50 +119,26 @@ def render(self):
         raise NotImplementedError()
 
     @abstractmethod
-    def render_lines(
-        self,
-        points: list | np.ndarray,
-        color: Optional[tuple[int, int, int]] = (0, 0, 255),
-        size: Optional[int] = 1,
-    ):
+    def close(self):
         """
-        Render a sequence of lines segments.
-
-        Parameters
-        ----------
-        points : list | np.ndarray
-            list of points to render
-        color : tuple[int, int, int], optional
-            color as rgb tuple, by default blue (0, 0, 255)
-        size : int, optional
-            size of the line, by default 1
+        Close the rendering window.
         """
         raise NotImplementedError()
 
+class ObjectRenderer(ABC):
+    
     @abstractmethod
-    def render_closed_lines(
-        self,
-        points: list | np.ndarray,
-        color: Optional[tuple[int, int, int]] = (0, 0, 255),
-        size: Optional[int] = 1,
-    ):
+    def __init__(self):
         """
-        Render a closed loop of lines (draw a line between the last and the first point).
-
-        Parameters
-        ----------
-        points : list | np.ndarray
-            list of points to render
-        color : tuple[int, int, int], optional
-            color as rgb tuple, by default blue (0, 0, 255)
-        size : int, optional
-            size of the line, by default 1
+        Initialize the point renderer.
+        This should set up the necessary parameters for rendering points.
         """
         raise NotImplementedError()
-
+    
     @abstractmethod
-    def close(self):
+    def update(self):
         """
-        Close the rendering window.
+        Update the point renderer with new data.
+        This is called at every rendering call.
         """
-        raise NotImplementedError()
+        raise NotImplementedError()
\ No newline at end of file
diff --git a/f1tenth_gym/envs/rendering/rendering.yaml b/f1tenth_gym/envs/rendering/rendering.yaml
index 556761ae..3c7c783c 100644
--- a/f1tenth_gym/envs/rendering/rendering.yaml
+++ b/f1tenth_gym/envs/rendering/rendering.yaml
@@ -4,7 +4,7 @@ zoom_in_factor: 0.5   # [float] zoom in factor. 1.0 is no zoom, >1.0 is zoom in,
 show_wheels: True     # [bool] it toggles the visualization of the vehicle wheels
 car_tickness: 1       # [px] thickness of the car
 show_info: True       # [bool] it toggles the visualization of the instruction text
-render_type: "pyqt6"  # [str] rendering type. Options: "pygame", "pyqt6"
+render_type: "pyqt6"  # [str] rendering type. Options: "pygame", "pyqt6" NOTE: pygame not supported until reimplemented
 vehicle_palette:      # [list] cyclic list of colors for the vehicles
   - "#984ea3"
   - "#e41a1c"
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqt.py b/f1tenth_gym/envs/rendering/rendering_pyqt.py
index 12a76916..c4a73e09 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqt.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqt.py
@@ -12,16 +12,24 @@
 from pyqtgraph.exporters import ImageExporter
 from PIL import ImageColor
 
-from .pyqt_objects import (
-    Car,
-    TextObject,
-)
+from .pyqt_objects import *
 from ..track import Track
-from .renderer import EnvRenderer, RenderSpec
+from .renderer import EnvRenderer, ObjectRenderer, RenderSpec
 
 # one-line instructions visualized at the top of the screen (if show_info=True)
 INSTRUCTION_TEXT = "Mouse click (L/M/R): Change POV - 'S' key: On/Off"
 
+# import sys
+# import warnings
+
+# def warn_with_traceback(message, category, filename, lineno, file=None, line=None):
+#     import traceback
+#     log = file if hasattr(file, 'write') else sys.stderr
+#     traceback.print_stack(file=log)
+#     warnings.defaultaction = 'always'
+#     return warnings.showwarning(message, category, filename, lineno, file, line)
+
+# warnings.showwarning = warn_with_traceback
 
 # Replicated from pyqtgraphs' example utils for ci pipelines to pass
 from time import perf_counter
@@ -125,12 +133,12 @@ def __init__(
 
         # fps and time renderer
         self.clock = FrameCounter()
-        self.fps_renderer = TextObject(parent=self.canvas, position="bottom_left")
-        self.time_renderer = TextObject(parent=self.canvas, position="bottom_right")
-        self.bottom_info_renderer = TextObject(
+        self.fps_renderer = TextRenderer(parent=self.canvas, position="bottom_left")
+        self.time_renderer = TextRenderer(parent=self.canvas, position="bottom_right")
+        self.bottom_info_renderer = TextRenderer(
             parent=self.canvas, position="bottom_center"
         )
-        self.top_info_renderer = TextObject(parent=self.canvas, position="top_center")
+        self.top_info_renderer = TextRenderer(parent=self.canvas, position="top_center")
 
         if self.render_mode in ["human", "human_fast"]:
             self.clock.sigFpsUpdate.connect(
@@ -191,17 +199,17 @@ def __init__(
         elif self.render_mode == "rgb_array":
             self.exporter = ImageExporter(self.canvas)
 
-    def update(self, state: dict) -> None:
+    def update(self, obs: dict) -> None:
         """
-        Update the simulation state to be rendered.
+        Update the simulation obs to be rendered.
 
         Parameters
         ----------
-            state: simulation state as dictionary
+            obs: simulation obs as dictionary
         """
         if self.cars is None:
             self.cars = [
-                Car(
+                CarRenderer(
                     car_length=self.params["length"],
                     car_width=self.params["width"],
                     color=self.car_colors[ic],
@@ -213,12 +221,12 @@ def update(self, state: dict) -> None:
                 for ic in range(len(self.agent_ids))
             ]
 
-        # update cars state and zoom level (updating points-per-unit)
-        for i in range(len(self.agent_ids)):
-            self.cars[i].update(state, i)
+        # update cars obs and zoom level (updating points-per-unit)
+        for i, id in enumerate(self.agent_ids):
+            self.cars[i].update(obs, id)
 
         # update time
-        self.sim_time = state["sim_time"]
+        self.sim_time = obs[self.agent_ids[0]]["sim_time"]
 
     def add_renderer_callback(self, callback_fn: Callable[[EnvRenderer], None]) -> None:
         """
@@ -356,85 +364,29 @@ def render(self) -> Optional[np.ndarray]:
                 frame = np.array(ptr).reshape(height, width, 4)
                 return frame[:, :, :3]  # remove alpha channel
 
-    def render_points(
+    def get_points_renderer(
         self,
         points: list | np.ndarray,
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
-    ) -> pg.PlotDataItem:
-        """
-        Render a sequence of xy points on screen.
+    ) -> ObjectRenderer:
+        return PointsRenderer(self, points, color, size)
 
-        Parameters
-        ----------
-        points : list | np.ndarray
-            list of points to render
-        color : Optional[tuple[int, int, int]], optional
-            color as rgb tuple, by default blue (0, 0, 255)
-        size : Optional[int], optional
-            size of the points in pixels, by default 1
-        """
-        return self.canvas.plot(
-            points[:, 0],
-            points[:, 1],
-            pen=None,
-            symbol="o",
-            symbolPen=pg.mkPen(color=color, width=0),
-            symbolBrush=pg.mkBrush(color=color, width=0),
-            symbolSize=size,
-        )
-
-    def render_lines(
+    def get_lines_renderer(
         self,
         points: list | np.ndarray,
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
-    ) -> pg.PlotDataItem:
-        """
-        Render a sequence of lines segments.
-
-        Parameters
-        ----------
-        points : list | np.ndarray
-            list of points to render
-        color : Optional[tuple[int, int, int]], optional
-            color as rgb tuple, by default blue (0, 0, 255)
-        size : Optional[int], optional
-            size of the line, by default 1
-        """
-        pen = pg.mkPen(color=pg.mkColor(*color), width=size)
-        return self.canvas.plot(
-            points[:, 0], points[:, 1], pen=pen, fillLevel=None, antialias=True
-        )  ## setting pen=None disables line drawing
+    ) -> ObjectRenderer:
+        return LinesRenderer(self, points, color, size)
 
-    def render_closed_lines(
+    def get_closed_lines_renderer(
         self,
         points: list | np.ndarray,
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
-    ) -> pg.PlotDataItem:
-        """
-        Render a sequence of lines segments forming a closed loop (draw a line between the last and the first point).
-
-        Parameters
-        ----------
-        points : list | np.ndarray
-            list of 2d points to render
-        color : Optional[tuple[int, int, int]], optional
-            color as rgb tuple, by default blue (0, 0, 255)
-        size : Optional[int], optional
-            size of the line, by default 1
-        """
-        # Append the first point to the end to close the loop
-        points = np.vstack([points, points[0]])
-
-        pen = pg.mkPen(color=pg.mkColor(*color), width=size)
-        pen.setCapStyle(pg.QtCore.Qt.PenCapStyle.RoundCap)
-        pen.setJoinStyle(pg.QtCore.Qt.PenJoinStyle.RoundJoin)
-
-        return self.canvas.plot(
-            points[:, 0], points[:, 1], pen=pen, cosmetic=True, antialias=True
-        )  ## setting pen=None disables line drawing
+    ) -> ObjectRenderer:
+        return ClosedLinesRenderer(self, points, color, size)
 
     def close(self) -> None:
         """
@@ -442,3 +394,5 @@ def close(self) -> None:
         """
         self.app.exit()
         
+
+        
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
new file mode 100644
index 00000000..fc80b18d
--- /dev/null
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -0,0 +1,104 @@
+import pyqtgraph.opengl as gl
+from pyqtgraph.Qt import QtWidgets, QtGui
+from PyQt6 import QtCore
+import numpy as np
+from ..track import Track
+from .renderer import EnvRenderer, RenderSpec
+from PIL import ImageColor
+
+class PyQtEnvRendererGL(EnvRenderer):
+    def __init__(self, params, track, agent_ids, render_spec, render_mode, render_fps):
+        super().__init__()
+        self.params = params
+        self.agent_ids = agent_ids
+        self.render_spec = render_spec
+        self.render_mode = render_mode
+        self.render_fps = render_fps
+
+        self.app = QtWidgets.QApplication.instance() or QtWidgets.QApplication([])
+        self.window = gl.GLViewWidget()
+        self.window.setWindowTitle("F1Tenth Gym - OpenGL")
+        self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
+        self.window.setCameraPosition(distance=40)
+        self.window.opts['center'] = QtGui.QVector3D(0, 0, 0)
+        self.window.show()
+
+        self.cars = []
+        self.sim_time = None
+        self.callbacks = []
+
+        # Load and transform map
+        self._init_map(track)
+        
+        # Colors
+        self.car_colors = [
+            tuple(ImageColor.getcolor(c, "RGB")) for c in render_spec.vehicle_palette
+        ]
+
+    def _init_map(self, track):
+        img = track.occupancy_map
+        img = np.stack([img]*3, axis=-1)
+        img = np.rot90(img, k=1)
+        img = np.flip(img, axis=0)
+
+        # Normalize image for OpenGL
+        img = img.astype(np.float32) / 255.0
+        w, h = img.shape[:2]
+        self.map_origin = track.spec.origin
+        px, py = self.map_origin[0], self.map_origin[1]
+        res = self.map_resolution = track.spec.resolution
+
+        self.map_item = gl.GLImageItem(img)
+        self.map_item.translate(px, py, 0)
+        self.map_item.scale(res, res, 1)
+        self.window.addItem(self.map_item)
+
+    def update(self, state):
+        if not self.cars:
+            for i in range(len(self.agent_ids)):
+                color = self.car_colors[i % len(self.car_colors)]
+                car_item = gl.GLScatterPlotItem(pos=np.zeros((1, 3)), color=color + (1.0,), size=5)
+                self.window.addItem(car_item)
+                self.cars.append(car_item)
+
+        for i, car in enumerate(self.cars):
+            x, y, _ = state["poses_x"][i], state["poses_y"][i], state["poses_theta"][i]
+            car.setData(pos=np.array([[x, y, 0]]))
+
+        self.sim_time = state["sim_time"]
+
+    def render(self):
+        for callback in self.callbacks:
+            callback(self)
+        self.app.processEvents()
+        
+    def add_renderer_callback(self, callback_fn):
+        """
+        Add a custom callback for visualization.
+
+        Parameters
+        ----------
+        callback_fn : Callable[[EnvRenderer], None]
+            callback function to be called at every rendering step
+        """
+        self.callbacks.append(callback_fn)
+
+    def render_points(self, points, color=(0, 0, 255), size=3):
+        color = [c / 255 for c in color] + [1.0]
+        pts = np.hstack([points, np.zeros((len(points), 1))])
+        item = gl.GLScatterPlotItem(pos=pts, color=color, size=size)
+        self.window.addItem(item)
+        return item
+
+    def render_lines(self, points, color=(0, 0, 255), size=2):
+        color = [c / 255 for c in color] + [1.0]
+        pts = np.hstack([points, np.zeros((len(points), 1))])
+        item = gl.GLLinePlotItem(pos=pts, color=color, width=size, mode='line_strip')
+        self.window.addItem(item)
+        return item
+
+    def render_closed_lines(self, points, color=(0, 0, 255), size=2):
+        return self.render_lines(np.vstack([points, points[0]]), color, size)
+
+    def close(self):
+        self.window.close()
diff --git a/f1tenth_gym/envs/track/raceline.py b/f1tenth_gym/envs/track/raceline.py
index fa2410ad..bb7558f5 100644
--- a/f1tenth_gym/envs/track/raceline.py
+++ b/f1tenth_gym/envs/track/raceline.py
@@ -65,7 +65,7 @@ def __init__(
         # compute spline through waypoints if not provided
         self.spline = spline or CubicSpline2D(x=xs, y=ys)
 
-        self.waypoint_render = None
+        self.waypoint_renderer = None
 
     @staticmethod
     def from_centerline_file(
@@ -191,7 +191,7 @@ def render_waypoints(self, e: EnvRenderer) -> None:
             Environment renderer object.
         """
         points = np.stack([self.xs, self.ys], axis=1)
-        if self.waypoint_render is None:
-            self.waypoint_render = e.render_closed_lines(points, color=(0, 128, 0), size=2)
+        if self.waypoint_renderer is None:
+            self.waypoint_renderer = e.get_closed_lines_renderer(points, color=(0, 128, 0), size=2)
         else:
-            self.waypoint_render.updateItems(points)
+            self.waypoint_renderer.update(points)

From 28d3da736f284d3677b95e66197c34cf2b7adfe1 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Mon, 9 Jun 2025 19:30:57 -0400
Subject: [PATCH 12/54] implemented pyqtgl rendering

---
 examples/test.py                              |  68 +++
 examples/test_pyqtopengl.py                   |  38 +-
 examples/waypoint_follow.py                   |   2 +-
 f1tenth_gym/envs/rendering/__init__.py        |   8 +-
 f1tenth_gym/envs/rendering/pyqtgl_objects.py  | 478 ++++++------------
 f1tenth_gym/envs/rendering/rendering.yaml     |   2 +-
 f1tenth_gym/envs/rendering/rendering_pyqt.py  |  14 +-
 .../envs/rendering/rendering_pyqtgl.py        | 255 +++++++---
 f1tenth_gym/envs/track/raceline.py            |   2 +-
 9 files changed, 444 insertions(+), 423 deletions(-)
 create mode 100644 examples/test.py

diff --git a/examples/test.py b/examples/test.py
new file mode 100644
index 00000000..7c039325
--- /dev/null
+++ b/examples/test.py
@@ -0,0 +1,68 @@
+import sys
+import time
+import numpy as np
+from PyQt6 import QtWidgets, QtCore, QtGui
+import pyqtgraph.opengl as gl
+
+
+class OpenGLRectangleWithFPS(QtWidgets.QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle("OpenGL Rectangle with FPS")
+
+        # Set up GL view widget
+        self.view = gl.GLViewWidget()
+        self.setCentralWidget(self.view)
+        self.view.setCameraPosition(distance=20, elevation=90, azimuth=0)
+
+        # Rectangle
+        rectangle = np.array([
+            [0, 0, 0],
+            [5, 0, 0],
+            [5, 3, 0],
+            [0, 3, 0],
+            [0, 0, 0]
+        ], dtype=np.float32)
+
+        rect_item = gl.GLLinePlotItem(pos=rectangle, color=(1, 0, 0, 1), width=2, mode='line_strip')
+        self.view.addItem(rect_item)
+
+        # FPS label (parent is the main window, not GL view!)
+        self.fps_label = QtWidgets.QLabel(self)
+        self.fps_label.setText("FPS: ...")
+        self.fps_label.setStyleSheet("color: white; background-color: rgba(0,0,0,180); padding: 4px;")
+        self.fps_label.setFont(QtGui.QFont("Courier", 14, QtGui.QFont.Weight.Bold))
+        self.fps_label.setGeometry(10, 10, 150, 30)
+        self.fps_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
+        self.fps_label.raise_()  # Ensure it's on top
+
+        # Timing
+        self.last_time = time.time()
+        self.frame_count = 0
+
+        # Timer for render loop
+        self.timer = QtCore.QTimer()
+        self.timer.timeout.connect(self.render)
+        self.timer.start(0)
+
+    def render(self):
+        self._update_fps()
+        self.view.update()
+
+    def _update_fps(self):
+        self.frame_count += 1
+        current_time = time.time()
+        elapsed = current_time - self.last_time
+        if elapsed >= 1.0:
+            fps = self.frame_count / elapsed
+            self.fps_label.setText(f"FPS: {fps:.1f}")
+            self.last_time = current_time
+            self.frame_count = 0
+
+
+if __name__ == "__main__":
+    app = QtWidgets.QApplication(sys.argv)
+    window = OpenGLRectangleWithFPS()
+    window.resize(800, 600)
+    window.show()
+    sys.exit(app.exec())
diff --git a/examples/test_pyqtopengl.py b/examples/test_pyqtopengl.py
index 6d1e4690..07097415 100644
--- a/examples/test_pyqtopengl.py
+++ b/examples/test_pyqtopengl.py
@@ -3,13 +3,17 @@
 import numpy as np
 from PyQt6 import QtWidgets, QtCore, QtGui
 import pyqtgraph.opengl as gl
+from PyQt6.QtGui import QSurfaceFormat
+
+fmt = QSurfaceFormat()
+fmt.setSwapInterval(0)  # 0 = no vsync, 1 = vsync
+QSurfaceFormat.setDefaultFormat(fmt)
 
 
 class OpenGLRectangleWithFPS(QtWidgets.QMainWindow):
     def __init__(self):
         super().__init__()
         self.setWindowTitle("OpenGL Filled Rectangle with FPS")
-
         # Set up GL view widget
         self.view = gl.GLViewWidget()
         self.setCentralWidget(self.view)
@@ -22,6 +26,18 @@ def __init__(self):
         # 🔧 Replace mouse drag behavior: allow pan (right drag), disable rotation
         self._enable_pan_only()
 
+        # Add 2D background using GLImageItem
+        map_img = np.zeros((200, 300), dtype=np.uint8)
+        map_img[50:150, 100:200] = 255
+        map_rgb = np.stack([map_img]*3, axis=-1)
+        alpha = np.ones((map_rgb.shape[0], map_rgb.shape[1], 1), dtype=np.uint8) * 255
+        map_rgba = np.concatenate((map_rgb, alpha), axis=-1)
+        map_rgba = np.flip(np.rot90(map_rgba, k=1), axis=0)
+        image_item = gl.GLImageItem(map_rgba)
+        image_item.translate(0, 0, -0.01)
+        image_item.scale(0.1, 0.1, 1)
+        # self.view.addItem(image_item)
+
         # Define rectangle corners (XY plane, z=0)
         rectangle = np.array([
             [0, 0, 0],
@@ -31,9 +47,9 @@ def __init__(self):
         ], dtype=np.float32)
 
         # Line outline
-        outline = np.vstack([rectangle, rectangle[0]])
-        rect_item = gl.GLLinePlotItem(pos=outline, color=(1, 0, 0, 1), width=2, mode='line_strip')
-        self.view.addItem(rect_item)
+        # outline = np.vstack([rectangle, rectangle[0]])
+        # rect_item = gl.GLLinePlotItem(pos=outline, color=(1, 0, 0, 1), width=2, mode='line_strip')
+        # self.view.addItem(rect_item)
 
         # Fill with GLMeshItem
         faces = np.array([
@@ -43,7 +59,7 @@ def __init__(self):
         mesh_item = gl.GLMeshItem(
             vertexes=rectangle,
             faces=faces,
-            faceColors=np.array([[0, 0.7, 0.9, 0.6], [0, 0.7, 0.9, 0.6]]),
+            faceColors=np.array([[0, 0.7, 0.9, 1.0], [0, 0.7, 0.9, 1.0]]),
             smooth=False,
             drawEdges=False
         )
@@ -51,6 +67,8 @@ def __init__(self):
 
         # FPS label
         self.fps_label = QtWidgets.QLabel(self)
+        font = QtGui.QFont("Courier New", 14, QtGui.QFont.Weight.Bold)
+        self.fps_label.setFont(font)
         self.fps_label.setStyleSheet("color: white; background-color: black; padding: 2px;")
         self.fps_label.move(10, 10)
         self.fps_label.resize(100, 20)
@@ -59,10 +77,9 @@ def __init__(self):
         # Frame timer
         self.last_time = time.time()
         self.frame_count = 0
-
-        self.timer = QtCore.QTimer()
-        self.timer.timeout.connect(self.update_fps)
-        self.timer.start(0)
+        # self.timer = QtCore.QTimer()
+        # self.timer.timeout.connect(self._update_fps)
+        # self.timer.start(0)
 
     def _enable_pan_only(self):
         """Override GLViewWidget events to disable rotation and allow right-click panning."""
@@ -96,10 +113,11 @@ def mouseReleaseEvent(event):
         self.view.mouseMoveEvent = mouseMoveEvent
         self.view.mouseReleaseEvent = mouseReleaseEvent
 
-    def update_fps(self):
+    def _update_fps(self):
         self.frame_count += 1
         now = time.time()
         elapsed = now - self.last_time
+
         if elapsed >= 1.0:
             fps = self.frame_count / elapsed
             self.fps_label.setText(f"FPS: {fps:.1f}")
diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 19a0ba10..c17f3431 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -312,7 +312,7 @@ def main():
     env = gym.make(
         "f1tenth_gym:f1tenth-v0",
         config={
-            "map": "Spielberg_blank",
+            "map": "Spielberg",
             "num_agents": num_agents,
             "timestep": 0.01,
             "integrator_timestep": 0.01,
diff --git a/f1tenth_gym/envs/rendering/__init__.py b/f1tenth_gym/envs/rendering/__init__.py
index 28e3238e..f64d51d9 100644
--- a/f1tenth_gym/envs/rendering/__init__.py
+++ b/f1tenth_gym/envs/rendering/__init__.py
@@ -38,10 +38,10 @@ def make_renderer(
         if render_mode in ["rgb_array", "rgb_array_list"]:
             os.environ["QT_QPA_PLATFORM"] = "offscreen"
         from .rendering_pyqt import PyQtEnvRenderer as EnvRenderer
-    # elif render_spec.render_type == "pyqt6gl":
-    #     if render_mode in ["rgb_array", "rgb_array_list"]:
-    #         os.environ["QT_QPA_PLATFORM"] = "offscreen"
-        # from .rendering_pyqtgl import PyQtEnvRendererGL as EnvRenderer
+    elif render_spec.render_type == "pyqt6gl":
+        if render_mode in ["rgb_array", "rgb_array_list"]:
+            os.environ["QT_QPA_PLATFORM"] = "offscreen"
+        from .rendering_pyqtgl import PyQtEnvRendererGL as EnvRenderer
     else:
         raise ValueError(f"Unknown render type: {render_spec.render_type}")
 
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index 092fabdf..beb4e434 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -1,373 +1,183 @@
 from __future__ import annotations
 import numpy as np
-# from PyQt6.QtWidgets import QGraphicsRectItem, QGraphicsPolygonItem
-# from PyQt6 import QtGui
-from pyqtgraph.opengl import GLLinePlotItem
+import pyqtgraph.opengl as gl
 
 from .renderer import RenderSpec, EnvRenderer, ObjectRenderer
-from ..collision_models import get_vertices, get_trmtx
 from typing import Optional, Any
 
-from numba import njit
 
-
-class LinesRenderer(ObjectRenderer):
-    def __init__(
-        self, 
-        env_renderer: EnvRenderer,
-        points: list | np.ndarray, 
-        color: Optional[tuple[int, int, int]] = (0, 0, 255), 
-        size: Optional[int] = 1
-        ):
-        pen = pg.mkPen(color=pg.mkColor(*color), width=size)
-        self.renderer = env_renderer.canvas.plot(
-            points[:, 0], points[:, 1], pen=pen, fillLevel=None, antialias=True
-        )
-        
-    def update(self, points: list | np.ndarray) -> None:
-        self.renderer.updateItems(points)
-        
-class ClosedLinesRenderer(ObjectRenderer):
-    def __init__(
-        self, 
-        env_renderer: EnvRenderer,
-        points: list | np.ndarray, 
-        color: Optional[tuple[int, int, int]] = (0, 0, 255), 
-        size: Optional[int] = 1
-        ):
-        # Append the first point to the end to close the loop
-        points = np.vstack([points, points[0]])
-        pen = pg.mkPen(color=pg.mkColor(*color), width=size)
-        pen.setCapStyle(pg.QtCore.Qt.PenCapStyle.RoundCap)
-        pen.setJoinStyle(pg.QtCore.Qt.PenJoinStyle.RoundJoin)
-        self.renderer = env_renderer.canvas.plot(
-            points[:, 0], points[:, 1], pen=pen, cosmetic=True, antialias=True
-        ) ## setting pen=None disables line drawing
-        
-    def update(self, points: list | np.ndarray) -> None:
-        self.renderer.updateItems(points)
-
-class PointsRenderer(ObjectRenderer):
-    def __init__(
-        self, 
-        env_renderer: EnvRenderer,
-        points: list | np.ndarray, 
-        color: Optional[tuple[int, int, int]] = (0, 0, 255), 
-        size: Optional[int] = 1
-        ):
-        self.renderer = env_renderer.canvas.plot(
-            points[:, 0],
-            points[:, 1],
-            pen=None,
-            symbol="o",
-            symbolPen=pg.mkPen(color=color, width=0),
-            symbolBrush=pg.mkBrush(color=color, width=0),
-            symbolSize=size,
-        )
-        
-    def update(self, points: list | np.ndarray) -> None:
-        self.renderer.setData(points)
-
-
-class TextRenderer(ObjectRenderer):
-    """
-    Class to display text on the screen at a given position.
-
-    Attributes
-    ----------
-    font : pygame.font.Font
-        font object
-    position : str | tuple
-        position of the text on the screen
-    text : pygame.Surface
-        text surface to be displayed
-    """
-    def __init__(
-        self,
-        position: str | tuple,
-        relative_font_size: int = 16,
-        font_name: str = "Arial",
-        parent: pg.PlotWidget = None,
-    ) -> None:
-        """
-        Initialize text object.
-
-        Parameters
-        ----------
-        position : str | tuple
-            position of the text on the screen
-        relative_font_size : int, optional
-            font size relative to the window shape, by default 32
-        font_name : str, optional
-            font name, by default "Arial"
-        """
-        self.position = position
-        self.text_label = pg.LabelItem("", parent=parent, size=str(relative_font_size) + 'pt', family=font_name, color=(125, 125, 125)) # create text label
-        # Get the position and offset of the text
-        position_tuple = self._position_resolver(self.position)
-        offset_tuple = self._offset_resolver(self.position, self.text_label)
-        # Set the position and offset of the text
-        self.text_label.anchor(itemPos=position_tuple, parentPos=position_tuple, offset=offset_tuple)
-
-    def _position_resolver(
-        self, position: str | tuple[int, int]
-    ) -> tuple[int, int]:
-        """
-        This function takes strings like "bottom center" and converts them into a location for the text to be displayed.
-        If position is tuple, then passthrough.
-
-        Parameters
-        ----------
-        position : str | tuple
-            position of the text on the screen
-
-        Returns
-        -------
-        tuple
-            position of the text on the screen
-
-        Raises
-        ------
-        ValueError
-            if position is not a tuple or a string
-        NotImplementedError
-            if position is a string but not implemented
-        """
-        if isinstance(position, tuple) and len(position) == 2:
-            return int(position[0]), int(position[1])
-        elif isinstance(position, str):
-            position = position.lower()
-            if position == "bottom_right":
-                return (1, 1)
-            elif position == "bottom_left":
-                return (0, 1)
-            elif position == "bottom_center":
-                return (0.5, 1)
-            elif position == "top_right":
-                return (1, 0)
-            elif position == "top_left":
-                return (0, 0)
-            elif position == "top_center":
-                return (0.5, 0)
-            else:
-                raise NotImplementedError(f"Position {position} not implemented.")
-        else:
-            raise ValueError(
-                f"Position expected to be a tuple[int, int] or a string. Got {position}."
-            )
-
-    def _offset_resolver(
-        self, position: str | tuple[int, int], text_label: pg.LabelItem
-    ) -> tuple[int, int]:
-        """
-        This function takes strings like "bottom center" and converts them into a location for the text to be displayed.
-        If position is tuple, then passthrough.
-
-        Parameters
-        ----------
-        position : str | tuple
-            position of the text on the screen
-
-        Returns
-        -------
-        tuple
-            position of the text on the screen
-
-        Raises
-        ------
-        ValueError
-            if position is not a tuple or a string
-        NotImplementedError
-            if position is a string but not implemented
-        """
-        if isinstance(position, tuple) and len(position) == 2:
-            return int(position[0]), int(position[1])
-        elif isinstance(position, str):
-            position = position.lower()
-            if position == "bottom_right":
-                return (-text_label.width(), 0)
-            elif position == "bottom_left":
-                return (0, 0)
-            elif position == "bottom_center":
-                return (-text_label.width()/2, 0)
-            elif position == "top_right":
-                return (-text_label.width(), 0)
-            elif position == "top_left":
-                return (0, 0)
-            elif position == "top_center":
-                return (-text_label.width()/2, 0)
-            else:
-                raise NotImplementedError(f"Position {position} not implemented.")
-        else:
-            raise ValueError(
-                f"Position expected to be a tuple[int, int] or a string. Got {position}."
-            )
-    
-    def update(self) -> None:
-        pass
-        
-    def render(self, text: str) -> None:
-        """
-        Render text on the screen.
-
-        Parameters
-        ----------
-        text : str
-            text to be displayed                 
-        """
-        self.text_label.setText(text)
-
-class CarRendererGL:
+class CarRenderer(ObjectRenderer):
     """
-    Car renderer using PyQtGraph OpenGL backend.
+    Class to display the car.
     """
     def __init__(
         self,
-        render_spec,
+        env_renderer: EnvRenderer,
+        render_spec: RenderSpec,
         map_origin: tuple[float, float],
         resolution: float,
         car_length: float,
         car_width: float,
-        color: Optional[list[int]] = None,
-        wheel_size: float = 0.2,
-        parent=None,  # parent is GLViewWidget
+        color: list[int] | None = None,
+        wheel_size: float = 0.2
     ):
         self.car_length = car_length
         self.car_width = car_width
         self.wheel_size = wheel_size
         self.car_thickness = render_spec.car_tickness
         self.show_wheels = render_spec.show_wheels
+        self.rgba = [c / 255 for c in color] + [1.0]
+        self.rgba = np.array([self.rgba] * 2)
+        
+        # Define centered rectangle in local coords
+        hl = self.car_length / 2  # half-length
+        hw = self.car_width / 2   # half-width
+        self.base_rect = np.array([
+            [-hl, -hw, 0],
+            [ hl, -hw, 0],
+            [ hl,  hw, 0],
+            [-hl,  hw, 0],
+        ], dtype=np.float32)
+        self.faces = np.array([[0, 1, 2], [0, 2, 3]])
+        self.mesh = gl.GLMeshItem(
+            vertexes=self.base_rect,
+            faces=self.faces,
+            faceColors=self.rgba,
+            smooth=False,
+            drawEdges=False,
+            edgeColor=(0, 0, 0, 1)
+        )
+        env_renderer.view.addItem(self.mesh)
 
         self.origin = map_origin
         self.resolution = resolution
-        self.color = color or (0, 0, 0)
+
+        self.color = color
         self.pose = (0, 0, 0)
         self.steering = 0
 
+        # Tire params need to be updated
         self.tire_width = 0.1
         self.tire_length = self.wheel_size
-
-        # Construct chassis
-        vertices = self._get_chassis_vertices(self.pose)
-        self.chassis = GLLinePlotItem(
-            pos=vertices,
-            color=self._color_rgba(self.color),
-            width=self.car_thickness,
-            antialias=True,
-            mode='line_strip'
+    
+    def apply_pose(self, pose):
+        x, y, yaw = pose
+        c, s = np.cos(yaw), np.sin(yaw)
+        R = np.array([
+            [c, -s, 0],
+            [s,  c, 0],
+            [0,  0, 1]
+        ])
+        return (self.base_rect @ R.T) + np.array([x, y, 0.01])
+        
+    def update(self, obs: dict[str, np.ndarray], id: str):        
+        state = obs[id]["std_state"].astype(float)
+        self.pose = (
+            state[0],
+            state[1],
+            state[4],
         )
-        parent.addItem(self.chassis)
-
-        # Optional wheels
-        if self.show_wheels:
-            fl = self._get_tire_vertices(self.pose, 'fl', self.steering)
-            self.fl_wheel = GLLinePlotItem(
-                pos=fl,
-                color=(0, 0, 0, 1),
-                width=self.car_thickness,
-                antialias=True,
-                mode='line_strip'
-            )
-            parent.addItem(self.fl_wheel)
-
-            fr = self._get_tire_vertices(self.pose, 'fr', self.steering)
-            self.fr_wheel = GLLinePlotItem(
-                pos=fr,
-                color=(0, 0, 0, 1),
-                width=self.car_thickness,
-                antialias=True,
-                mode='line_strip'
-            )
-            parent.addItem(self.fr_wheel)
-
-    def update(self, obs: dict, agent_id: str):
-        state = obs[agent_id]["std_state"].astype(float)
-        self.pose = (state[0], state[1], state[4])
-        if obs[agent_id]["collision"] > 0:
-            self.color = (255, 0, 0)
+        if obs[id]["collision"] > 0:
+            color = (255, 0, 0)
+            self.rgba = [c / 255 for c in color] + [1.0]
+            self.rgba = np.array([self.rgba] * 2)
         self.steering = state[2]
-
+        
     def render(self):
-        vertices = self._get_chassis_vertices(self.pose)
-        self.chassis.setData(pos=vertices)
-
-        if self.show_wheels:
-            self.fl_wheel.setData(pos=self._get_tire_vertices(self.pose, 'fl', self.steering))
-            self.fr_wheel.setData(pos=self._get_tire_vertices(self.pose, 'fr', self.steering))
+        # pass
+        transformed = self.apply_pose(self.pose)
+        self.mesh.setMeshData(vertexes=transformed, 
+                              faces=self.faces,
+                              faceColors=self.rgba,
+                              smooth=False,
+                              drawEdges=False,)
 
-    def _get_chassis_vertices(self, pose):
-        verts = get_vertices(pose, self.car_length, self.car_width)
-        verts = np.array([verts[0], verts[3], verts[2], verts[1], verts[0]])  # closed loop
-        verts = np.hstack([verts, np.zeros((verts.shape[0], 1))])  # z=0
-        return verts
-
-    def _get_tire_vertices(self, pose, wheel_pos, steering):
-        verts = _get_tire_vertices(
-            pose, self.car_length, self.car_width,
-            self.tire_width, self.tire_length,
-            wheel_pos, steering
+class LinesRenderer(ObjectRenderer):
+    def __init__(
+        self, 
+        env_renderer: EnvRenderer,
+        points: list | np.ndarray, 
+        color: Optional[tuple[int, int, int]] = (0, 0, 255), 
+        size: Optional[int] = 1
+        ):
+        # Convert to 3D (z=0)
+        self.points3d = np.hstack([points, np.zeros((points.shape[0], 1))])
+
+        # Normalize color
+        rgba = tuple([c / 255 for c in color] + [1.0])
+
+        # Create the OpenGL line loop
+        self.line = gl.GLLinePlotItem(
+            pos=self.points3d,
+            color=rgba,
+            width=size,
+            mode='line_strip',
+            antialias=False,
         )
-        verts = np.vstack([verts, verts[0]])  # close loop
-        verts = np.hstack([verts, np.zeros((verts.shape[0], 1))])
-        return verts
-
-    def _color_rgba(self, rgb):
-        return (rgb[0] / 255, rgb[1] / 255, rgb[2] / 255, 1.0)
-    
-
+        self.line.setGLOptions('translucent')
+        env_renderer.view.addItem(self.line)
 
-
-@njit(cache=True)
-def _get_tire_vertices(pose, length, width, tire_width, tire_length, index, steering):
-    """
-    Utility function to return vertices of the car's tire given pose and size
-
-    Args:
-        pose (np.ndarray, (3, )): current world coordinate pose of the vehicle
-        length (float): car length
-        width (float): car width
-
-    Returns:
-        vertices (np.ndarray, (4, 2)): corner vertices of the vehicle body
-    """
-    pose_arr = np.array(pose)
-    if index == 'fl':
-        # Shift back, rotate
-        H_shift = get_trmtx(np.array([-(length/2 - tire_length/2), -(width/2 - tire_width/2), 0]))
-        H_steer = get_trmtx(np.array([0, 0, steering]))
-        H_back = get_trmtx(np.array([length/2 - tire_length/2, width/2 - tire_width/2, 0]))
-        H = get_trmtx(pose_arr)
-        H = H.dot(H_back).dot(H_steer).dot(H_shift)
-        fl = H.dot(np.asarray([[length / 2], [width / 2], [0.0], [1.0]])).flatten()
-        fr = H.dot(np.asarray([[length / 2], [width / 2 - tire_width], [0.0], [1.0]])).flatten()
-        rr = H.dot(np.asarray([[length / 2 - tire_length], [width / 2 - tire_width], [0.0], [1.0]])).flatten()
-        rl = H.dot(np.asarray([[length / 2 - tire_length], [width / 2], [0.0], [1.0]])).flatten()
-        rl = rl / rl[3]
-        rr = rr / rr[3]
-        fl = fl / fl[3]
-        fr = fr / fr[3]
-        vertices = np.asarray(
-            [[rl[0], rl[1]], [fl[0], fl[1]], [fr[0], fr[1]], [rr[0], rr[1]], [rl[0], rl[1]]]
+    def update(self, points: np.ndarray):
+        self.points3d = np.hstack([points, np.zeros((points.shape[0], 1))])
+        self.line.setData(pos=self.points3d)
+        
+class ClosedLinesRenderer(ObjectRenderer):
+    def __init__(
+        self,
+        env_renderer: EnvRenderer,
+        points: np.ndarray,
+        color: tuple[int, int, int] = (0, 0, 255),
+        size: float = 2.0
+    ):
+        # Ensure loop is closed
+        if not np.array_equal(points[0], points[-1]):
+            points = np.vstack([points, points[0]])
+
+        # Convert to 3D (z=0)
+        self.points3d = np.hstack([points, np.ones((points.shape[0], 1)) * 0.01])
+
+        # Normalize color
+        rgba = tuple([c / 255 for c in color] + [1.0])
+
+        # Create the OpenGL line loop
+        self.line = gl.GLLinePlotItem(
+            pos=self.points3d,
+            color=rgba,
+            width=size,
+            mode='line_strip',
+            antialias=False,
         )
-    elif index == 'fr':
-        # Shift back, rotate
-        H_shift = get_trmtx(np.array([-(length/2 - tire_length/2), -(-width/2 + tire_width/2), 0]))
-        H_steer = get_trmtx(np.array([0, 0, steering]))
-        H_back = get_trmtx(np.array([length/2 - tire_length/2, -width/2 + tire_width/2, 0]))
-        H = get_trmtx(pose_arr)
-        H = H.dot(H_back).dot(H_steer).dot(H_shift)
+        self.line.setGLOptions('translucent')
+        env_renderer.view.addItem(self.line)
+
+    def update(self, points: np.ndarray):
+        if not np.array_equal(points[0], points[-1]):
+            points = np.vstack([points, points[0]])
+        self.points3d = np.hstack([points, np.ones((points.shape[0], 1)) * 0.01])
+        self.line.setData(pos=self.points3d)
 
-        fl = H.dot(np.asarray([[length / 2], [-width / 2 + tire_width], [0.0], [1.0]])).flatten()
-        fr = H.dot(np.asarray([[length / 2], [-width / 2], [0.0], [1.0]])).flatten()
-        rr = H.dot(np.asarray([[length / 2 - tire_length], [-width / 2], [0.0], [1.0]])).flatten()
-        rl = H.dot(np.asarray([[length / 2 - tire_length], [-width / 2 + tire_width], [0.0], [1.0]])).flatten()
-        rl = rl / rl[3]
-        rr = rr / rr[3]
-        fl = fl / fl[3]
-        fr = fr / fr[3]
-        # As it is only used for rendering, we can reorder the vertices and append the first point to close the polygon
-        vertices = np.asarray(
-            [[rl[0], rl[1]], [fl[0], fl[1]], [fr[0], fr[1]], [rr[0], rr[1]], [rl[0], rl[1]]]
+class PointsRenderer(ObjectRenderer):
+    def __init__(
+        self,
+        env_renderer: EnvRenderer,
+        points: np.ndarray,
+        color: tuple[int, int, int] = (0, 0, 255),
+        size: int = 5
+    ):
+        # Normalize color to (0–1)
+        color_rgba = tuple([c / 255 for c in color] + [1.0])
+
+        # Convert to 3D
+        self.points = np.hstack([points, np.ones((points.shape[0], 1)) * 0.01])  # z = 0
+        self.scatter = gl.GLScatterPlotItem(
+            pos=self.points,
+            color=color_rgba,
+            size=size,
+            pxMode=True,  # Use pixel-based sizing
         )
+        self.scatter.setGLOptions('translucent')
+        env_renderer.view.addItem(self.scatter)
 
-    return vertices
\ No newline at end of file
+    def update(self, points: np.ndarray):
+        self.points = np.hstack([points, np.ones((points.shape[0], 1)) * 0.01])
+        self.scatter.setData(pos=self.points)
diff --git a/f1tenth_gym/envs/rendering/rendering.yaml b/f1tenth_gym/envs/rendering/rendering.yaml
index 3c7c783c..911b9df8 100644
--- a/f1tenth_gym/envs/rendering/rendering.yaml
+++ b/f1tenth_gym/envs/rendering/rendering.yaml
@@ -4,7 +4,7 @@ zoom_in_factor: 0.5   # [float] zoom in factor. 1.0 is no zoom, >1.0 is zoom in,
 show_wheels: True     # [bool] it toggles the visualization of the vehicle wheels
 car_tickness: 1       # [px] thickness of the car
 show_info: True       # [bool] it toggles the visualization of the instruction text
-render_type: "pyqt6"  # [str] rendering type. Options: "pygame", "pyqt6" NOTE: pygame not supported until reimplemented
+render_type: "pyqt6gl"  # [str] rendering type. Options: "pygame", "pyqt6" NOTE: pygame not supported until reimplemented
 vehicle_palette:      # [list] cyclic list of colors for the vehicles
   - "#984ea3"
   - "#e41a1c"
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqt.py b/f1tenth_gym/envs/rendering/rendering_pyqt.py
index c4a73e09..14b08904 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqt.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqt.py
@@ -19,18 +19,6 @@
 # one-line instructions visualized at the top of the screen (if show_info=True)
 INSTRUCTION_TEXT = "Mouse click (L/M/R): Change POV - 'S' key: On/Off"
 
-# import sys
-# import warnings
-
-# def warn_with_traceback(message, category, filename, lineno, file=None, line=None):
-#     import traceback
-#     log = file if hasattr(file, 'write') else sys.stderr
-#     traceback.print_stack(file=log)
-#     warnings.defaultaction = 'always'
-#     return warnings.showwarning(message, category, filename, lineno, file, line)
-
-# warnings.showwarning = warn_with_traceback
-
 # Replicated from pyqtgraphs' example utils for ci pipelines to pass
 from time import perf_counter
 class FrameCounter(QtCore.QObject):
@@ -252,7 +240,7 @@ def key_pressed(self, event: QtGui.QKeyEvent) -> None:
         if event.key() == QtCore.Qt.Key.Key_S:
             logging.debug("Pressed S key -> Enable/disable rendering")
             self.draw_flag = not self.draw_flag
-            self.draw_flag_changed = True
+            # self.draw_flag_changed = True
 
     def mouse_clicked(self, event: QtGui.QMouseEvent) -> None:
         """
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index fc80b18d..3ad2e5ee 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -1,76 +1,194 @@
+import time
 import pyqtgraph.opengl as gl
-from pyqtgraph.Qt import QtWidgets, QtGui
-from PyQt6 import QtCore
+from PyQt6 import QtWidgets, QtCore, QtGui
 import numpy as np
 from ..track import Track
-from .renderer import EnvRenderer, RenderSpec
+from .renderer import EnvRenderer, RenderSpec, ObjectRenderer
 from PIL import ImageColor
+from typing import Any, Callable, Optional
+from .pyqtgl_objects import PointsRenderer, LinesRenderer, ClosedLinesRenderer, CarRenderer
 
 class PyQtEnvRendererGL(EnvRenderer):
-    def __init__(self, params, track, agent_ids, render_spec, render_mode, render_fps):
+    def __init__(
+        self,
+        params: dict[str, Any],
+        track: Track,
+        agent_ids: list[str],
+        render_spec: RenderSpec,
+        render_mode: str,
+        render_fps: int,
+    ):
         super().__init__()
         self.params = params
         self.agent_ids = agent_ids
         self.render_spec = render_spec
         self.render_mode = render_mode
         self.render_fps = render_fps
-
+        
+        fmt = QtGui.QSurfaceFormat()
+        fmt.setSwapInterval(0)  # 0 = no vsync, 1 = vsync
+        QtGui.QSurfaceFormat.setDefaultFormat(fmt)
         self.app = QtWidgets.QApplication.instance() or QtWidgets.QApplication([])
-        self.window = gl.GLViewWidget()
+        self.view = gl.GLViewWidget()
+        camera_position = QtGui.QVector3D(0, 0, 0)
+        self.view.setCameraPosition(pos=camera_position, distance=40, elevation=90, azimuth=0)
+        self.window = QtWidgets.QMainWindow()
+        self.window.setCentralWidget(self.view)
         self.window.setWindowTitle("F1Tenth Gym - OpenGL")
         self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
-        self.window.setCameraPosition(distance=40)
-        self.window.opts['center'] = QtGui.QVector3D(0, 0, 0)
-        self.window.show()
-
-        self.cars = []
+        
+        self._enable_pan_only()
+        self._init_map(track)
+        self._center_camera_on_map()
+        
+        # FPS label
+        text_rgb = (140, 140, 140)
+        self.fps_label = QtWidgets.QLabel(self.window)
+        font = QtGui.QFont("Arial", 14)
+        self.fps_label.setFont(font)
+        self.fps_label.setStyleSheet(
+            f"color: rgb({text_rgb[0]}, {text_rgb[1]}, {text_rgb[2]}); background-color: transparent; padding: 2px;"
+        )
+        self.fps_label.move(10, 10)
+        self.fps_label.resize(100, 20)
+        self.fps_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
+        # self.fps_label.raise_()
+        self.fps_label.show()
+
+        # Frame timer
+        self.last_time = time.time()
+        self.frame_count = 0
+
+        self.cars = None
         self.sim_time = None
         self.callbacks = []
-
-        # Load and transform map
-        self._init_map(track)
+        self.draw_flag = True
+        self.window.show()
         
         # Colors
         self.car_colors = [
             tuple(ImageColor.getcolor(c, "RGB")) for c in render_spec.vehicle_palette
         ]
-
+        
     def _init_map(self, track):
-        img = track.occupancy_map
-        img = np.stack([img]*3, axis=-1)
-        img = np.rot90(img, k=1)
-        img = np.flip(img, axis=0)
+        map_image = track.occupancy_map
+        map_image = np.rot90(map_image, k=1)
+        map_image = np.flip(map_image, axis=0)
+        self.map_image = map_image
 
         # Normalize image for OpenGL
-        img = img.astype(np.float32) / 255.0
-        w, h = img.shape[:2]
         self.map_origin = track.spec.origin
         px, py = self.map_origin[0], self.map_origin[1]
         res = self.map_resolution = track.spec.resolution
+        
+        map_rgb = np.stack([map_image]*3, axis=-1)
+        alpha = np.ones((map_rgb.shape[0], map_rgb.shape[1], 1), dtype=np.uint8) * 255
+        map_rgba = np.concatenate((map_rgb, alpha), axis=-1)
+        image_item = gl.GLImageItem(map_rgba)
+        image_item.translate(px, py, -0.01)  # Slightly below the map
+        image_item.scale(res, res, 1)
+        image_item.setGLOptions('translucent') 
+        self.view.addItem(image_item)
+        
+    def _get_map_bounds(self):
+        h, w = self.map_image.shape[:2]
+        sx, sy = self.map_resolution, self.map_resolution
+        ox, oy = self.map_origin[0], self.map_origin[1]
+
+        min_xy = np.array([ox, oy])
+        max_xy = np.array([ox + w * sx, oy + h * sy])
+        return min_xy, max_xy
+        
+    def _center_camera_on_map(self):
+        min_xy, max_xy = self._get_map_bounds()
+        # Compute center and extent
+        center = (min_xy + max_xy) / 2
+        extent = max(max_xy - min_xy)
+        # Fixed height above map
+        z = extent / 2   # or a constant like 30
+        x, y = center
+        self.view.setCameraPosition(
+            pos=QtGui.QVector3D(x, y, z),             # camera position
+            elevation=90,                              # top-down
+            azimuth=0                                  # no rotation
+        )
+        
+    def _enable_pan_only(self):
+        """Override GLViewWidget events to disable rotation and allow right-click panning."""
+        self.view.pan_active = False
+        self.view.pan_start = QtCore.QPoint()
+
+        def mousePressEvent(event):
+            if event.button() == QtCore.Qt.MouseButton.LeftButton:
+                self.view.pan_active = True
+                self.view.pan_start = event.pos()
+                event.accept()
+            else:
+                event.ignore()
+
+        def mouseMoveEvent(event):
+            if self.view.pan_active:
+                delta = event.pos() - self.view.pan_start
+                dx = -delta.y() * 0.08
+                dy = -delta.x() * 0.08
+                self.view.pan(dx, dy, 0)
+                self.view.pan_start = event.pos()
+                event.accept()
+            else:
+                event.ignore()
+
+        def mouseReleaseEvent(event):
+            self.view.pan_active = False
+            event.accept()
+
+        self.view.mousePressEvent = mousePressEvent
+        self.view.mouseMoveEvent = mouseMoveEvent
+        self.view.mouseReleaseEvent = mouseReleaseEvent
+
+    def update(self, obs: dict) -> None:
+        """
+        Update the simulation obs to be rendered.
 
-        self.map_item = gl.GLImageItem(img)
-        self.map_item.translate(px, py, 0)
-        self.map_item.scale(res, res, 1)
-        self.window.addItem(self.map_item)
-
-    def update(self, state):
-        if not self.cars:
-            for i in range(len(self.agent_ids)):
-                color = self.car_colors[i % len(self.car_colors)]
-                car_item = gl.GLScatterPlotItem(pos=np.zeros((1, 3)), color=color + (1.0,), size=5)
-                self.window.addItem(car_item)
-                self.cars.append(car_item)
-
-        for i, car in enumerate(self.cars):
-            x, y, _ = state["poses_x"][i], state["poses_y"][i], state["poses_theta"][i]
-            car.setData(pos=np.array([[x, y, 0]]))
-
-        self.sim_time = state["sim_time"]
+        Parameters
+        ----------
+            obs: simulation obs as dictionary
+        """
+        if self.cars is None:
+            self.cars = [
+                CarRenderer(
+                    env_renderer=self,
+                    car_length=self.params["length"],
+                    car_width=self.params["width"],
+                    color=self.car_colors[ic],
+                    render_spec=self.render_spec,
+                    map_origin=self.map_origin[:2],
+                    resolution=self.map_resolution,
+                )
+                for ic in range(len(self.agent_ids))
+            ]
+
+        # update cars obs and zoom level (updating points-per-unit)
+        for i, id in enumerate(self.agent_ids):
+            self.cars[i].update(obs, id)
+
+        # update time
+        self.sim_time = obs[self.agent_ids[0]]["sim_time"]
 
     def render(self):
-        for callback in self.callbacks:
-            callback(self)
-        self.app.processEvents()
+        if self.draw_flag:
+            start_time = time.time()
+            self._update_fps()
+            # call callbacks
+            for callback_fn in self.callbacks:
+                callback_fn(self)
+            
+            # draw cars
+            for i in range(len(self.agent_ids)):
+                self.cars[i].render()
+            self.app.processEvents()
+            # elapsed = time.time() - start_time
+            # sleep_time = max(0.0, 1/self.render_fps - elapsed)
+            # time.sleep(sleep_time)
         
     def add_renderer_callback(self, callback_fn):
         """
@@ -82,23 +200,42 @@ def add_renderer_callback(self, callback_fn):
             callback function to be called at every rendering step
         """
         self.callbacks.append(callback_fn)
-
-    def render_points(self, points, color=(0, 0, 255), size=3):
-        color = [c / 255 for c in color] + [1.0]
-        pts = np.hstack([points, np.zeros((len(points), 1))])
-        item = gl.GLScatterPlotItem(pos=pts, color=color, size=size)
-        self.window.addItem(item)
-        return item
-
-    def render_lines(self, points, color=(0, 0, 255), size=2):
-        color = [c / 255 for c in color] + [1.0]
-        pts = np.hstack([points, np.zeros((len(points), 1))])
-        item = gl.GLLinePlotItem(pos=pts, color=color, width=size, mode='line_strip')
-        self.window.addItem(item)
-        return item
-
-    def render_closed_lines(self, points, color=(0, 0, 255), size=2):
-        return self.render_lines(np.vstack([points, points[0]]), color, size)
+    
+    def _update_fps(self):
+        self.frame_count += 1
+        now = time.time()
+        elapsed = now - self.last_time
+
+        if elapsed >= 1.0:
+            fps = self.frame_count / elapsed
+            self.fps_label.setText(f"FPS: {fps:.0f}")
+            self.last_time = now
+            self.frame_count = 0
+        self.view.update()
+
+    def get_points_renderer(
+        self,
+        points: list | np.ndarray,
+        color: Optional[tuple[int, int, int]] = (0, 0, 255),
+        size: Optional[int] = 1,
+    ) -> ObjectRenderer:
+        return PointsRenderer(self, points, color, size)
+
+    def get_lines_renderer(
+        self,
+        points: list | np.ndarray,
+        color: Optional[tuple[int, int, int]] = (0, 0, 255),
+        size: Optional[int] = 1,
+    ) -> ObjectRenderer:
+        return LinesRenderer(self, points, color, size)
+
+    def get_closed_lines_renderer(
+        self,
+        points: list | np.ndarray,
+        color: Optional[tuple[int, int, int]] = (0, 0, 255),
+        size: Optional[int] = 1,
+    ) -> ObjectRenderer:
+        return ClosedLinesRenderer(self, points, color, size)
 
     def close(self):
         self.window.close()
diff --git a/f1tenth_gym/envs/track/raceline.py b/f1tenth_gym/envs/track/raceline.py
index bb7558f5..d2dc18fb 100644
--- a/f1tenth_gym/envs/track/raceline.py
+++ b/f1tenth_gym/envs/track/raceline.py
@@ -192,6 +192,6 @@ def render_waypoints(self, e: EnvRenderer) -> None:
         """
         points = np.stack([self.xs, self.ys], axis=1)
         if self.waypoint_renderer is None:
-            self.waypoint_renderer = e.get_closed_lines_renderer(points, color=(0, 128, 0), size=2)
+            self.waypoint_renderer = e.get_closed_lines_renderer(points, color=(0, 255, 0), size=2)
         else:
             self.waypoint_renderer.update(points)

From 886ff482308127296f4044ffea53460618563039 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Tue, 10 Jun 2025 01:15:03 -0400
Subject: [PATCH 13/54] add middle and right button event

---
 f1tenth_gym/envs/rendering/__init__.py        |  4 +-
 f1tenth_gym/envs/rendering/pyqtgl_objects.py  | 13 +--
 f1tenth_gym/envs/rendering/renderer.py        | 75 ++++++++-------
 f1tenth_gym/envs/rendering/rendering.yaml     |  5 +-
 .../envs/rendering/rendering_pyqtgl.py        | 91 +++++++++++++------
 5 files changed, 118 insertions(+), 70 deletions(-)

diff --git a/f1tenth_gym/envs/rendering/__init__.py b/f1tenth_gym/envs/rendering/__init__.py
index f64d51d9..1de8b0b5 100644
--- a/f1tenth_gym/envs/rendering/__init__.py
+++ b/f1tenth_gym/envs/rendering/__init__.py
@@ -30,7 +30,9 @@ def make_renderer(
         rendering frames per second, by default 100
     """
     cfg_file = pathlib.Path(__file__).parent.absolute() / "rendering.yaml"
-    render_spec = RenderSpec.from_yaml(cfg_file)
+    
+    render_spec = RenderSpec()
+    render_spec.from_yaml(cfg_file)
 
     if render_spec.render_type == "pygame": 
         from .rendering_pygame import PygameEnvRenderer as EnvRenderer
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index beb4e434..8c1eb9ee 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -30,8 +30,8 @@ def __init__(
         self.rgba = np.array([self.rgba] * 2)
         
         # Define centered rectangle in local coords
-        hl = self.car_length / 2  # half-length
-        hw = self.car_width / 2   # half-width
+        hl = self.car_length / 2 # half-length
+        hw = self.car_width / 2 # half-width
         self.base_rect = np.array([
             [-hl, -hw, 0],
             [ hl, -hw, 0],
@@ -59,8 +59,9 @@ def __init__(
         # Tire params need to be updated
         self.tire_width = 0.1
         self.tire_length = self.wheel_size
+        
     
-    def apply_pose(self, pose):
+    def apply_pose(self, pose, scale=1.0):
         x, y, yaw = pose
         c, s = np.cos(yaw), np.sin(yaw)
         R = np.array([
@@ -68,7 +69,7 @@ def apply_pose(self, pose):
             [s,  c, 0],
             [0,  0, 1]
         ])
-        return (self.base_rect @ R.T) + np.array([x, y, 0.01])
+        return ((self.base_rect * scale) @ R.T) + np.array([x, y, 0.01])
         
     def update(self, obs: dict[str, np.ndarray], id: str):        
         state = obs[id]["std_state"].astype(float)
@@ -83,9 +84,9 @@ def update(self, obs: dict[str, np.ndarray], id: str):
             self.rgba = np.array([self.rgba] * 2)
         self.steering = state[2]
         
-    def render(self):
+    def render(self, scale=1.0):
         # pass
-        transformed = self.apply_pose(self.pose)
+        transformed = self.apply_pose(self.pose, scale)
         self.mesh.setMeshData(vertexes=transformed, 
                               faces=self.faces,
                               faceColors=self.rgba,
diff --git a/f1tenth_gym/envs/rendering/renderer.py b/f1tenth_gym/envs/rendering/renderer.py
index d4bd81a1..7ac101f9 100644
--- a/f1tenth_gym/envs/rendering/renderer.py
+++ b/f1tenth_gym/envs/rendering/renderer.py
@@ -7,18 +7,50 @@
 import numpy as np
 import yaml
 
+class ConfigYAML:
+    """
+    Config class for yaml file
+    Able to load and save yaml file to and from python object
+    """
+    def __init__(self) -> None:
+        pass
+    
+    def load_file(self, filename):
+        self.d = yaml.safe_load(pathlib.Path(filename).read_text())
+        for key in self.d: 
+            setattr(self, key, self.d[key]) 
+    
+    def from_yaml(self, filename):
+        self.d = yaml.safe_load(pathlib.Path(filename).read_text())
+        for key in self.d: 
+            setattr(self, key, self.d[key]) 
+    
+    def save_file(self, filename):
+        d = vars(self)
+        class_d = vars(self.__class__)
+        d_out = {}
+        for key in list(class_d.keys()):
+            if not (key.startswith('__') or \
+                    key.startswith('load_file') or \
+                    key.startswith('save_file')):
+                if isinstance(class_d[key], np.ndarray):
+                    d_out[key] = class_d[key].tolist()
+                else:
+                    d_out[key] = class_d[key]
+        for key in list(d.keys()):
+            if not (key.startswith('__') or \
+                    key.startswith('load_file') or \
+                    key.startswith('save_file')):
+                if isinstance(d[key], np.ndarray):
+                    d_out[key] = d[key].tolist()
+                else:
+                    d_out[key] = d[key]
+        with open(filename, 'w+') as ff:
+            yaml.dump_all([d_out], ff)
 
-@dataclass
-class RenderSpec:
-    window_size: int
-    zoom_in_factor: float
-    focus_on: str
-    car_tickness: int
-    show_wheels: bool
-    show_info: Optional[bool] = True
-    vehicle_palette: Optional[list[str]] = None
-    render_type: Optional[str] = "pygame"
 
+@dataclass
+class RenderSpec(ConfigYAML):
     def __init__(
         self,
         window_size: int = 800,
@@ -59,29 +91,6 @@ def __init__(
         self.vehicle_palette = vehicle_palette or ["#984ea3"]
         self.render_type = render_type
 
-    @staticmethod
-    def from_yaml(yaml_file: str | pathlib.Path):
-        """
-        Load rendering specification from a yaml file.
-
-        Parameters
-        ----------
-        yaml_file : str | pathlib.Path
-            path to the yaml file
-
-        Returns
-        -------
-        RenderSpec
-            rendering specification object
-        """
-        with open(yaml_file, "r") as yaml_stream:
-            try:
-                config = yaml.safe_load(yaml_stream)
-            except yaml.YAMLError as ex:
-                print(ex)
-        return RenderSpec(**config)
-
-
 class EnvRenderer(ABC):
     """
     Abstract class for rendering the environment.
diff --git a/f1tenth_gym/envs/rendering/rendering.yaml b/f1tenth_gym/envs/rendering/rendering.yaml
index 911b9df8..d10e7946 100644
--- a/f1tenth_gym/envs/rendering/rendering.yaml
+++ b/f1tenth_gym/envs/rendering/rendering.yaml
@@ -1,11 +1,14 @@
 window_size: 800      # [px] width and height of the window
 focus_on: agent_0     # [str] agent id to focus on (e.g., agent_0) or null for map view
 zoom_in_factor: 0.5   # [float] zoom in factor. 1.0 is no zoom, >1.0 is zoom in, <1.0 is zoom out
+bigger_car_when_map_centered: True  # [bool] it toggles the size of the car when centered in the map
 show_wheels: True     # [bool] it toggles the visualization of the vehicle wheels
 car_tickness: 1       # [px] thickness of the car
 show_info: True       # [bool] it toggles the visualization of the instruction text
-render_type: "pyqt6gl"  # [str] rendering type. Options: "pygame", "pyqt6" NOTE: pygame not supported until reimplemented
+render_type: "pyqt6gl"  # [str] rendering type. Options: "pyqt6gl", "pyqt6" NOTE: pygame not supported until reimplemented
 vehicle_palette:      # [list] cyclic list of colors for the vehicles
+  - "#FD3754"
+  - "#377eb8"
   - "#984ea3"
   - "#e41a1c"
   - "#ff7f00"
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 3ad2e5ee..2ec6b497 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -1,4 +1,4 @@
-import time
+import time, logging
 import pyqtgraph.opengl as gl
 from PyQt6 import QtWidgets, QtCore, QtGui
 import numpy as np
@@ -24,14 +24,20 @@ def __init__(
         self.render_spec = render_spec
         self.render_mode = render_mode
         self.render_fps = render_fps
+        if render_spec.focus_on:
+            self.agent_to_follow_setting = self.agent_ids.index(render_spec.focus_on)
+            self.agent_to_follow = self.agent_ids.index(render_spec.focus_on)
+        else:
+            self.agent_to_follow = None
+        self.car_scale = 1.0
         
         fmt = QtGui.QSurfaceFormat()
         fmt.setSwapInterval(0)  # 0 = no vsync, 1 = vsync
         QtGui.QSurfaceFormat.setDefaultFormat(fmt)
         self.app = QtWidgets.QApplication.instance() or QtWidgets.QApplication([])
         self.view = gl.GLViewWidget()
-        camera_position = QtGui.QVector3D(0, 0, 0)
-        self.view.setCameraPosition(pos=camera_position, distance=40, elevation=90, azimuth=0)
+        self.view.setCameraPosition(pos=QtGui.QVector3D(0, 0, 0), distance=20, elevation=90, azimuth=0)
+        self.view.setBackgroundColor((25, 25, 25))
         self.window = QtWidgets.QMainWindow()
         self.window.setCentralWidget(self.view)
         self.window.setWindowTitle("F1Tenth Gym - OpenGL")
@@ -39,21 +45,20 @@ def __init__(
         
         self._enable_pan_only()
         self._init_map(track)
-        self._center_camera_on_map()
         
         # FPS label
-        text_rgb = (140, 140, 140)
-        self.fps_label = QtWidgets.QLabel(self.window)
-        font = QtGui.QFont("Arial", 14)
-        self.fps_label.setFont(font)
-        self.fps_label.setStyleSheet(
-            f"color: rgb({text_rgb[0]}, {text_rgb[1]}, {text_rgb[2]}); background-color: transparent; padding: 2px;"
-        )
-        self.fps_label.move(10, 10)
-        self.fps_label.resize(100, 20)
-        self.fps_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
-        # self.fps_label.raise_()
-        self.fps_label.show()
+        if self.render_mode in ["human", "human_fast"]:
+            text_rgb = (140, 140, 140)
+            self.fps_label = QtWidgets.QLabel(self.window)
+            font = QtGui.QFont("Arial", 14)
+            self.fps_label.setFont(font)
+            self.fps_label.setStyleSheet(
+                f"color: rgb({text_rgb[0]}, {text_rgb[1]}, {text_rgb[2]}); background-color: transparent; padding: 2px;"
+            )
+            self.fps_label.move(10, 10)
+            self.fps_label.resize(100, 20)
+            self.fps_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
+            self.fps_label.show()
 
         # Frame timer
         self.last_time = time.time()
@@ -88,13 +93,12 @@ def _init_map(self, track):
         image_item.translate(px, py, -0.01)  # Slightly below the map
         image_item.scale(res, res, 1)
         image_item.setGLOptions('translucent') 
-        self.view.addItem(image_item)
+        # self.view.addItem(image_item)
         
     def _get_map_bounds(self):
         h, w = self.map_image.shape[:2]
         sx, sy = self.map_resolution, self.map_resolution
         ox, oy = self.map_origin[0], self.map_origin[1]
-
         min_xy = np.array([ox, oy])
         max_xy = np.array([ox + w * sx, oy + h * sy])
         return min_xy, max_xy
@@ -104,11 +108,26 @@ def _center_camera_on_map(self):
         # Compute center and extent
         center = (min_xy + max_xy) / 2
         extent = max(max_xy - min_xy)
+        # if self.config
+        self.car_scale = extent/self.params['width'] / 100
         # Fixed height above map
-        z = extent / 2   # or a constant like 30
         x, y = center
         self.view.setCameraPosition(
-            pos=QtGui.QVector3D(x, y, z),             # camera position
+            pos=QtGui.QVector3D(x, y, 1),             # camera position
+            distance=extent * 0.8,  # zoom level
+            elevation=90,                              # top-down
+            azimuth=0                                  # no rotation
+        )
+    
+    def _center_camera_on_car(self, car_idx=0, distance_reset=False):
+        x, y = self.cars[car_idx].pose[:2]  # Get car position
+        self.car_scale = 1.0
+        if distance_reset:
+            self.view.setCameraPosition(
+                distance=self.params['width'] * 50,  # zoom level
+            )
+        self.view.setCameraPosition(
+            pos=QtGui.QVector3D(x, y, 1),             # camera position
             elevation=90,                              # top-down
             azimuth=0                                  # no rotation
         )
@@ -119,12 +138,21 @@ def _enable_pan_only(self):
         self.view.pan_start = QtCore.QPoint()
 
         def mousePressEvent(event):
-            if event.button() == QtCore.Qt.MouseButton.LeftButton:
+            if event.button() == QtCore.Qt.MouseButton.LeftButton: # NOTE: left button is used for panning
                 self.view.pan_active = True
                 self.view.pan_start = event.pos()
                 event.accept()
-            else:
-                event.ignore()
+            if event.button() == QtCore.Qt.MouseButton.RightButton:
+                logging.debug("Pressed right button -> Follow Next agent")
+                if self.agent_to_follow is None:
+                    self.agent_to_follow = 0
+                else:
+                    self.agent_to_follow = (self.agent_to_follow + 1) % len(self.agent_ids)
+                self._center_camera_on_car(self.agent_to_follow, distance_reset=True)
+            elif event.button() == QtCore.Qt.MouseButton.MiddleButton:
+                logging.debug("Pressed middle button -> Change to Map View")
+                self._center_camera_on_map()
+                self.agent_to_follow = None
 
         def mouseMoveEvent(event):
             if self.view.pan_active:
@@ -177,18 +205,23 @@ def update(self, obs: dict) -> None:
     def render(self):
         if self.draw_flag:
             start_time = time.time()
-            self._update_fps()
+            
             # call callbacks
             for callback_fn in self.callbacks:
                 callback_fn(self)
-            
+            if self.agent_to_follow is not None:
+                self._center_camera_on_car(self.agent_to_follow)
             # draw cars
             for i in range(len(self.agent_ids)):
-                self.cars[i].render()
+                self.cars[i].render(self.car_scale)
+            
             self.app.processEvents()
-            # elapsed = time.time() - start_time
-            # sleep_time = max(0.0, 1/self.render_fps - elapsed)
-            # time.sleep(sleep_time)
+            
+            if self.render_mode in ["human", "human_fast"]:
+                self._update_fps()
+                # elapsed = time.time() - start_time
+                # sleep_time = max(0.0, 1/self.render_fps - elapsed)
+                # time.sleep(sleep_time)
         
     def add_renderer_callback(self, callback_fn):
         """

From 56e6501d0fa781077b30e11df0184e1c515acb8c Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Tue, 10 Jun 2025 01:21:47 -0400
Subject: [PATCH 14/54] can rotate

---
 f1tenth_gym/envs/rendering/rendering_pyqtgl.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 2ec6b497..670ccb90 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -43,7 +43,7 @@ def __init__(
         self.window.setWindowTitle("F1Tenth Gym - OpenGL")
         self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
         
-        self._enable_pan_only()
+        # self._enable_pan_only()
         self._init_map(track)
         
         # FPS label
@@ -93,7 +93,7 @@ def _init_map(self, track):
         image_item.translate(px, py, -0.01)  # Slightly below the map
         image_item.scale(res, res, 1)
         image_item.setGLOptions('translucent') 
-        # self.view.addItem(image_item)
+        self.view.addItem(image_item)
         
     def _get_map_bounds(self):
         h, w = self.map_image.shape[:2]
@@ -209,8 +209,8 @@ def render(self):
             # call callbacks
             for callback_fn in self.callbacks:
                 callback_fn(self)
-            if self.agent_to_follow is not None:
-                self._center_camera_on_car(self.agent_to_follow)
+            # if self.agent_to_follow is not None:
+            #     self._center_camera_on_car(self.agent_to_follow)
             # draw cars
             for i in range(len(self.agent_ids)):
                 self.cars[i].render(self.car_scale)

From a11180985ef3537485b8fbbaab0a20cf33587bf2 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Tue, 10 Jun 2025 01:34:30 -0400
Subject: [PATCH 15/54] used ConfigYAML for RenderSpec

---
 f1tenth_gym/envs/rendering/rendering.yaml      |  1 +
 f1tenth_gym/envs/rendering/rendering_pyqtgl.py | 15 ++++++++-------
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/f1tenth_gym/envs/rendering/rendering.yaml b/f1tenth_gym/envs/rendering/rendering.yaml
index d10e7946..a5d4ed6d 100644
--- a/f1tenth_gym/envs/rendering/rendering.yaml
+++ b/f1tenth_gym/envs/rendering/rendering.yaml
@@ -2,6 +2,7 @@ window_size: 800      # [px] width and height of the window
 focus_on: agent_0     # [str] agent id to focus on (e.g., agent_0) or null for map view
 zoom_in_factor: 0.5   # [float] zoom in factor. 1.0 is no zoom, >1.0 is zoom in, <1.0 is zoom out
 bigger_car_when_map_centered: True  # [bool] it toggles the size of the car when centered in the map
+render_map_img: True  # [bool] it toggles the visualization of the map image
 show_wheels: True     # [bool] it toggles the visualization of the vehicle wheels
 car_tickness: 1       # [px] thickness of the car
 show_info: True       # [bool] it toggles the visualization of the instruction text
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 670ccb90..0ac19655 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -43,7 +43,7 @@ def __init__(
         self.window.setWindowTitle("F1Tenth Gym - OpenGL")
         self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
         
-        # self._enable_pan_only()
+        self._enable_pan_only()
         self._init_map(track)
         
         # FPS label
@@ -89,11 +89,12 @@ def _init_map(self, track):
         map_rgb = np.stack([map_image]*3, axis=-1)
         alpha = np.ones((map_rgb.shape[0], map_rgb.shape[1], 1), dtype=np.uint8) * 255
         map_rgba = np.concatenate((map_rgb, alpha), axis=-1)
-        image_item = gl.GLImageItem(map_rgba)
+        image_item = gl.GLImageItem(map_rgba, smooth=True)
         image_item.translate(px, py, -0.01)  # Slightly below the map
         image_item.scale(res, res, 1)
         image_item.setGLOptions('translucent') 
-        self.view.addItem(image_item)
+        if self.render_spec.render_map_img:
+            self.view.addItem(image_item)
         
     def _get_map_bounds(self):
         h, w = self.map_image.shape[:2]
@@ -108,8 +109,8 @@ def _center_camera_on_map(self):
         # Compute center and extent
         center = (min_xy + max_xy) / 2
         extent = max(max_xy - min_xy)
-        # if self.config
-        self.car_scale = extent/self.params['width'] / 100
+        if self.render_spec.bigger_car_when_map_centered:
+            self.car_scale = extent/self.params['width'] / 120
         # Fixed height above map
         x, y = center
         self.view.setCameraPosition(
@@ -209,8 +210,8 @@ def render(self):
             # call callbacks
             for callback_fn in self.callbacks:
                 callback_fn(self)
-            # if self.agent_to_follow is not None:
-            #     self._center_camera_on_car(self.agent_to_follow)
+            if self.agent_to_follow is not None:
+                self._center_camera_on_car(self.agent_to_follow)
             # draw cars
             for i in range(len(self.agent_ids)):
                 self.cars[i].render(self.car_scale)

From de310ec2c88c645c40ee7d7a217a23c804c0e3ea Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Wed, 11 Jun 2025 04:02:11 -0400
Subject: [PATCH 16/54] remove pygame, rewrote cubicspline2d init

---
 examples/waypoint_follow.py                   |   1 +
 f1tenth_gym/envs/f110_env.py                  |   2 +-
 f1tenth_gym/envs/rendering/__init__.py        |   6 +-
 f1tenth_gym/envs/rendering/objects.py         | 249 -----------
 .../envs/rendering/rendering_pygame.py        | 399 ------------------
 f1tenth_gym/envs/track/cubic_spline.py        |  85 +---
 f1tenth_gym/envs/track/raceline.py            |   2 +
 f1tenth_gym/envs/track/track.py               |  13 +-
 pyproject.toml                                |   8 +-
 9 files changed, 37 insertions(+), 728 deletions(-)
 delete mode 100644 f1tenth_gym/envs/rendering/objects.py
 delete mode 100644 f1tenth_gym/envs/rendering/rendering_pygame.py

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index c17f3431..5c9c6862 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -326,6 +326,7 @@ def main():
             "map_scale": 1.0,
             "enable_rendering": 1,
             "enable_scan": 1,
+            "compute_frenet": 1,
         },
         render_mode="human_fast",
     )
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 0a51c19a..c469627e 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -139,7 +139,6 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
             model=self.model,
             action_type=self.action_type,
         )
-        self.sim.set_map(self.map, self.config["map_scale"])
 
         if isinstance(self.map, Track):
             self.track = self.map
@@ -148,6 +147,7 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
                 self.map,
                 track_scale=self.config["map_scale"],
             )  # load track in gym env for convenience
+        self.sim.set_map(self.track, self.config["map_scale"])
 
         # observations
         self.agent_ids = [f"agent_{i}" for i in range(self.num_agents)]
diff --git a/f1tenth_gym/envs/rendering/__init__.py b/f1tenth_gym/envs/rendering/__init__.py
index 1de8b0b5..dee8db9c 100644
--- a/f1tenth_gym/envs/rendering/__init__.py
+++ b/f1tenth_gym/envs/rendering/__init__.py
@@ -34,9 +34,9 @@ def make_renderer(
     render_spec = RenderSpec()
     render_spec.from_yaml(cfg_file)
 
-    if render_spec.render_type == "pygame": 
-        from .rendering_pygame import PygameEnvRenderer as EnvRenderer
-    elif render_spec.render_type == "pyqt6":
+    # if render_spec.render_type == "pygame": 
+    #     from .rendering_pygame import PygameEnvRenderer as EnvRenderer
+    if render_spec.render_type == "pyqt6":
         if render_mode in ["rgb_array", "rgb_array_list"]:
             os.environ["QT_QPA_PLATFORM"] = "offscreen"
         from .rendering_pyqt import PyQtEnvRenderer as EnvRenderer
diff --git a/f1tenth_gym/envs/rendering/objects.py b/f1tenth_gym/envs/rendering/objects.py
deleted file mode 100644
index 57f156d9..00000000
--- a/f1tenth_gym/envs/rendering/objects.py
+++ /dev/null
@@ -1,249 +0,0 @@
-from __future__ import annotations
-import cv2
-import numpy as np
-import pygame
-
-from ..collision_models import get_vertices
-from . import RenderSpec
-
-
-class TextObject:
-    """
-    Class to display text on the screen at a given position.
-
-    Attributes
-    ----------
-    font : pygame.font.Font
-        font object
-    position : str | tuple
-        position of the text on the screen
-    text : pygame.Surface
-        text surface to be displayed
-    """
-
-    def __init__(
-        self,
-        window_shape: tuple[int, int],
-        position: str | tuple,
-        relative_font_size: int = 32,
-        font_name: str = "Arial",
-    ) -> None:
-        """
-        Initialize text object.
-
-        Parameters
-        ----------
-        window_shape : tuple
-            shape of the window (width, height) in pixels
-        position : str | tuple
-            position of the text on the screen
-        relative_font_size : int, optional
-            font size relative to the window shape, by default 32
-        font_name : str, optional
-            font name, by default "Arial"
-        """
-        font_size = int(relative_font_size * window_shape[0] / 1000)
-        self.font = pygame.font.SysFont(font_name, font_size)
-        self.position = position
-
-        self.text = self.font.render("", True, (125, 125, 125))
-
-    def _position_resolver(
-        self, position: str | tuple[int, int], display: pygame.Surface
-    ) -> tuple[int, int]:
-        """
-        This function takes strings like "bottom center" and converts them into a location for the text to be displayed.
-        If position is tuple, then passthrough.
-
-        Parameters
-        ----------
-        position : str | tuple
-            position of the text on the screen
-        display : pygame.Surface
-            display surface
-
-        Returns
-        -------
-        tuple
-            position of the text on the screen
-
-        Raises
-        ------
-        ValueError
-            if position is not a tuple or a string
-        NotImplementedError
-            if position is a string but not implemented
-        """
-        if isinstance(position, tuple) and len(position) == 2:
-            return int(position[0]), int(position[1])
-        elif isinstance(position, str):
-            position = position.lower()
-            if position == "bottom_right":
-                display_width, display_height = (
-                    display.get_width(),
-                    display.get_height(),
-                )
-                text_width, text_height = self.text.get_width(), self.text.get_height()
-                bottom_right = (
-                    display_width - text_width,
-                    display_height - text_height,
-                )
-                return bottom_right
-            elif position == "bottom_left":
-                display_height = display.get_height()
-                text_height = self.text.get_height()
-                bottom_left = (0, display_height - text_height)
-                return bottom_left
-            elif position == "bottom_center":
-                display_width, display_height = (
-                    display.get_width(),
-                    display.get_height(),
-                )
-                text_width, text_height = self.text.get_width(), self.text.get_height()
-                bottom_center = (
-                    (display_width - text_width) // 2,
-                    display_height - text_height,
-                )
-                return bottom_center
-            elif position == "top_right":
-                display_width = display.get_width()
-                text_width = self.text.get_width()
-                top_right = (display_width - text_width, 0)
-                return top_right
-            elif position == "top_left":
-                top_left = (0, 0)
-                return top_left
-            elif position == "top_center":
-                display_width = display.get_width()
-                text_width = self.text.get_width()
-                top_center = ((display_width - text_width) // 2, 0)
-                return top_center
-            else:
-                raise NotImplementedError(f"Position {position} not implemented.")
-        else:
-            raise ValueError(
-                f"Position expected to be a tuple[int, int] or a string. Got {position}."
-            )
-
-    def render(self, text: str, display: pygame.Surface) -> None:
-        """
-        Render text on the screen.
-
-        Parameters
-        ----------
-        text : str
-            text to be displayed
-        display : pygame.Surface
-            display surface                    
-        """
-        self.text = self.font.render(text, True, (125, 125, 125))
-        position_tuple = self._position_resolver(self.position, display)
-        display.blit(self.text, position_tuple)
-
-
-class Map:
-    """
-    Class to display the track map according to the desired zoom level.
-    """
-
-    def __init__(self, map_img: np.ndarray, zoom_level: float):
-        orig_width, orig_height = map_img.shape
-        scaled_width = int(orig_width * zoom_level)
-        scaled_height = int(orig_height * zoom_level)
-        map_img = cv2.resize(
-            map_img, dsize=(scaled_width, scaled_height), interpolation=cv2.INTER_AREA
-        )
-
-        # convert shape from (W, H) to (W, H, 3)
-        track_map = np.stack([map_img, map_img, map_img], axis=-1)
-
-        # rotate and flip to match the track orientation
-        track_map = np.rot90(track_map, k=1)  # rotate clockwise
-        track_map = np.flip(track_map, axis=0)  # flip vertically
-
-        self.track_map = track_map
-        self.map_surface = pygame.surfarray.make_surface(self.track_map)
-
-    def render(self, display: pygame.Surface):
-        display.blit(self.map_surface, (0, 0))
-
-
-class Car:
-    """
-    Class to display the car.
-    """
-
-    def __init__(
-        self,
-        render_spec: RenderSpec,
-        map_origin: tuple[float, float],
-        resolution: float,
-        ppu: float,
-        car_length: float,
-        car_width: float,
-        color: list[int] | None = None,
-        wheel_size: float = 0.2,
-    ):
-        self.car_length = car_length
-        self.car_width = car_width
-        self.wheel_size = wheel_size
-        self.car_tickness = render_spec.car_tickness
-        self.show_wheels = render_spec.show_wheels
-
-        self.origin = map_origin
-        self.resolution = resolution
-        self.ppu = ppu
-
-        self.color = color or (0, 0, 0)
-        self.pose = None
-        self.steering = None
-        self.rect = None
-
-    def update(self, state: dict[str, np.ndarray], idx: int):
-        self.pose = (
-            state["poses_x"][idx],
-            state["poses_y"][idx],
-            state["poses_theta"][idx],
-        )
-        self.color = (255, 0, 0) if state["collisions"][idx] > 0 else self.color
-        self.steering = self.pose[2] + state["steering_angles"][idx]
-
-    def render(self, display: pygame.Surface):
-        vertices = get_vertices(self.pose, self.car_length, self.car_width)
-        vertices[:, 0] = (vertices[:, 0] - self.origin[0]) / (
-            self.resolution * self.ppu
-        )
-        vertices[:, 1] = (vertices[:, 1] - self.origin[1]) / (
-            self.resolution * self.ppu
-        )
-
-        self.rect = pygame.draw.polygon(display, self.color, vertices)
-
-        pygame.draw.lines(display, (0, 0, 0), True, vertices, self.car_tickness)
-
-        # draw two lines in proximity of the front wheels
-        # to indicate the steering angle
-        if self.show_wheels:
-            # percentage along the car length to draw the wheels segments
-            lam = 0.15
-
-            # find point at perc between front and back vertices
-            front_left = (vertices[0] * lam + vertices[3] * (1 - lam)).astype(int)
-            front_right = (vertices[1] * lam + vertices[2] * (1 - lam)).astype(int)
-            arrow_length = self.wheel_size / self.resolution
-
-            for mid_point in [front_left, front_right]:
-                end_point = mid_point + 0.5 * arrow_length * np.array(
-                    [np.cos(self.steering), np.sin(self.steering)]
-                )
-                base_point = mid_point - 0.5 * arrow_length * np.array(
-                    [np.cos(self.steering), np.sin(self.steering)]
-                )
-
-                pygame.draw.line(
-                    display,
-                    (0, 0, 0),
-                    base_point.astype(int),
-                    end_point.astype(int),
-                    self.car_tickness + 1,
-                )
diff --git a/f1tenth_gym/envs/rendering/rendering_pygame.py b/f1tenth_gym/envs/rendering/rendering_pygame.py
deleted file mode 100644
index e443b2d0..00000000
--- a/f1tenth_gym/envs/rendering/rendering_pygame.py
+++ /dev/null
@@ -1,399 +0,0 @@
-from __future__ import annotations
-import logging
-import math
-from typing import Any, Callable, Optional
-
-import cv2
-import numpy as np
-import pygame
-from PIL import ImageColor
-
-from .objects import (
-    Map,
-    Car,
-    TextObject,
-)
-from ..track import Track
-from .renderer import EnvRenderer, RenderSpec
-
-# one-line instructions visualized at the top of the screen (if show_info=True)
-INSTRUCTION_TEXT = "Mouse click (L/M/R): Change POV - 'S' key: On/Off"
-
-
-class PygameEnvRenderer(EnvRenderer):
-    """
-    Renderer of the environment using Pygame.
-    """
-
-    def __init__(
-        self,
-        params: dict[str, Any],
-        track: Track,
-        agent_ids: list[str],
-        render_spec: RenderSpec,
-        render_mode: str,
-        render_fps: int,
-    ):
-        """
-        Initialize the Pygame renderer.
-
-        Parameters
-        ----------
-        params : dict
-            dictionary of simulation parameters (including vehicle dimensions, etc.)
-        track : Track
-            track object
-        agent_ids : list
-            list of agent ids to render
-        render_spec : RenderSpec
-            rendering specification
-        render_mode : str
-            rendering mode in ["human", "human_fast", "rgb_array"]
-        render_fps : int
-            number of frames per second            
-        """
-        super().__init__()
-        self.params = params
-        self.agent_ids = agent_ids
-
-        self.cars = None
-        self.sim_time = None
-        self.window = None
-        self.canvas = None
-
-        self.render_spec = render_spec
-        self.render_mode = render_mode
-        self.render_fps = render_fps
-
-        colors_rgb = [
-            [rgb for rgb in ImageColor.getcolor(c, "RGB")]
-            for c in render_spec.vehicle_palette
-        ]
-        self.car_colors = [
-            colors_rgb[i % len(colors_rgb)] for i in range(len(self.agent_ids))
-        ]
-
-        width, height = render_spec.window_size, render_spec.window_size
-
-        pygame.init()
-        if self.render_mode in ["human", "human_fast"]:
-            pygame.display.init()
-            pygame.event.set_allowed([])
-            self.window = pygame.display.set_mode((width, height))
-            self.window.fill((255, 255, 255))  # white background
-
-        self.canvas = pygame.Surface((width, height))
-        self.map_canvas = None
-
-        # map metadata
-        self.map_origin = track.spec.origin
-        self.map_resolution = track.spec.resolution
-
-        # fps and time renderer
-        self.clock = pygame.time.Clock()
-        self.fps_renderer = TextObject(
-            window_shape=(width, height), position="bottom_left"
-        )
-        self.time_renderer = TextObject(
-            window_shape=(width, height), position="bottom_right"
-        )
-        self.bottom_info_renderer = TextObject(
-            window_shape=(width, height), position="bottom_center"
-        )
-        self.top_info_renderer = TextObject(
-            window_shape=(width, height), position="top_center"
-        )
-
-        # load map image
-        original_img = track.occupancy_map
-
-        self.map_renderers = {
-            "map": Map(map_img=original_img, zoom_level=0.4),
-            "car": Map(map_img=original_img, zoom_level=render_spec.zoom_in_factor),
-        }
-        self.map_canvases = {
-            k: pygame.Surface((map_r.track_map.shape[0], map_r.track_map.shape[1]))
-            for k, map_r in self.map_renderers.items()
-        }
-        self.ppus = {
-            k: original_img.shape[0] / map_r.track_map.shape[0]
-            for k, map_r in self.map_renderers.items()
-        }
-
-        # callbacks for custom visualization, called at every rendering step
-        self.callbacks = []
-
-        # event handling flags
-        self.draw_flag: bool = True
-        if render_spec.focus_on:
-            self.active_map_renderer = "car"
-            self.follow_agent_flag: bool = True
-            self.agent_to_follow: int = self.agent_ids.index(render_spec.focus_on)
-        else:
-            self.active_map_renderer = "map"
-            self.follow_agent_flag: bool = False
-            self.agent_to_follow: int = None
-
-    def update(self, state: dict) -> None:
-        """
-        Update the simulation state to be rendered.
-
-        Parameters
-        ----------
-            state: simulation state as dictionary
-        """
-        if self.cars is None:
-            self.cars = [
-                Car(
-                    car_length=self.params["length"],
-                    car_width=self.params["width"],
-                    color=self.car_colors[ic],
-                    render_spec=self.render_spec,
-                    map_origin=self.map_origin[:2],
-                    resolution=self.map_resolution,
-                    ppu=self.ppus[self.active_map_renderer],
-                )
-                for ic in range(len(self.agent_ids))
-            ]
-
-        # update cars state and zoom level (updating points-per-unit)
-        for i in range(len(self.agent_ids)):
-            self.cars[i].update(state, i)
-            self.cars[i].ppu = self.ppus[self.active_map_renderer]
-
-        # update time
-        self.sim_time = state["sim_time"]
-
-    def add_renderer_callback(self, callback_fn: Callable[[EnvRenderer], None]) -> None:
-        """
-        Add a custom callback for visualization.
-        All the callbacks are called at every rendering step, after having rendered the map and the cars.
-
-        Parameters
-        ----------
-        callback_fn : Callable[[EnvRenderer], None]
-            callback function to be called at every rendering step
-        """
-        self.callbacks.append(callback_fn)
-
-    def render(self) -> Optional[np.ndarray]:
-        """
-        Render the current state in a frame.
-        It renders in the order: map, cars, callbacks, info text.
-
-        Returns
-        -------
-        Optional[np.ndarray]
-            if render_mode is "rgb_array", returns the rendered frame as an array
-        """
-        self.event_handling()
-
-        self.canvas.fill((255, 255, 255))  # white background
-        self.map_canvas = self.map_canvases[self.active_map_renderer]
-        self.map_canvas.fill((255, 255, 255))  # white background
-
-        if self.draw_flag:
-            self.map_renderers[self.active_map_renderer].render(self.map_canvas)
-
-            # draw cars
-            for i in range(len(self.agent_ids)):
-                self.cars[i].render(self.map_canvas)
-
-            # call callbacks
-            for callback_fn in self.callbacks:
-                callback_fn(self)
-
-            surface_mod_rect = self.map_canvas.get_rect()
-            screen_rect = self.canvas.get_rect()
-
-            if self.follow_agent_flag:
-                origin = self.map_origin
-                resolution = self.map_resolution * self.ppus[self.active_map_renderer]
-                ego_x, ego_y = self.cars[self.agent_to_follow].pose[:2]
-                cx = (ego_x - origin[0]) / resolution
-                cy = (ego_y - origin[1]) / resolution
-            else:
-                cx = self.map_canvas.get_width() / 2
-                cy = self.map_canvas.get_height() / 2
-
-            surface_mod_rect.x = screen_rect.centerx - cx
-            surface_mod_rect.y = screen_rect.centery - cy
-
-            self.canvas.blit(self.map_canvas, surface_mod_rect)
-
-            agent_to_follow_id = (
-                self.agent_ids[self.agent_to_follow]
-                if self.agent_to_follow is not None
-                else None
-            )
-            self.bottom_info_renderer.render(
-                text=f"Focus on: {agent_to_follow_id}", display=self.canvas
-            )
-
-        if self.render_spec.show_info:
-            self.top_info_renderer.render(text=INSTRUCTION_TEXT, display=self.canvas)
-        self.time_renderer.render(text=f"{self.sim_time:.2f}", display=self.canvas)
-
-        if self.render_mode in ["human", "human_fast"]:
-            assert self.window is not None
-
-            self.fps_renderer.render(
-                text=f"FPS: {self.clock.get_fps():.2f}", display=self.canvas
-            )
-
-            self.window.blit(self.canvas, self.canvas.get_rect())
-
-            pygame.event.pump()
-            pygame.display.update()
-
-            # We need to ensure that human-rendering occurs at the predefined framerate.
-            # The following line will automatically add a delay to keep the framerate stable.
-            self.clock.tick(self.render_fps)
-        else:  # rgb_array
-            frame = np.transpose(
-                np.array(pygame.surfarray.pixels3d(self.canvas)), axes=(1, 0, 2)
-            )
-            if frame.shape[0] > 2000:
-                frame = cv2.resize(
-                    frame, dsize=(2000, 2000), interpolation=cv2.INTER_AREA
-                )
-            return frame
-
-    def event_handling(self) -> None:
-        """
-        Handle interaction events to change point-of-view.
-
-        Events:
-            - Left mouse button: follow next agent (according to agent_ids order)
-            - Right mouse button: follow previous agent
-            - Middle mouse button: change to map view
-            - S key: enable/disable rendering
-        """
-        for event in pygame.event.get():
-            if event.type == pygame.MOUSEBUTTONDOWN and event.button == 1:
-                logging.debug("Pressed left button -> Follow Next agent")
-
-                self.follow_agent_flag = True
-                if self.agent_to_follow is None:
-                    self.agent_to_follow = 0
-                else:
-                    self.agent_to_follow = (self.agent_to_follow + 1) % len(
-                        self.agent_ids
-                    )
-
-                self.active_map_renderer = "car"
-
-            elif event.type == pygame.MOUSEBUTTONDOWN and event.button == 3:
-                logging.debug("Pressed right button -> Follow Previous agent")
-
-                self.follow_agent_flag = True
-                if self.agent_to_follow is None:
-                    self.agent_to_follow = 0
-                else:
-                    self.agent_to_follow = (self.agent_to_follow - 1) % len(
-                        self.agent_ids
-                    )
-
-                self.active_map_renderer = "car"
-
-            elif event.type == pygame.MOUSEBUTTONDOWN and event.button == 2:
-                logging.debug("Pressed middle button -> Change to Map View")
-
-                self.follow_agent_flag = False
-                self.agent_to_follow = None
-
-                self.active_map_renderer = "map"
-
-            elif event.type == pygame.KEYDOWN and event.key == pygame.K_s:
-                logging.debug("Pressed S key -> Enable/disable rendering")
-                self.draw_flag = not (self.draw_flag)
-
-    def render_points(
-        self,
-        points: list | np.ndarray,
-        color: Optional[tuple[int, int, int]] = (0, 0, 255),
-        size: Optional[int] = 1,
-    ) -> None:
-        """
-        Render a sequence of xy points on screen.
-
-        Parameters
-        ----------
-        points : list | np.ndarray
-            list of points to render
-        color : Optional[tuple[int, int, int]], optional
-            color as rgb tuple, by default blue (0, 0, 255)
-        size : Optional[int], optional
-            size of the points in pixels, by default 1
-        """
-        origin = self.map_origin
-        ppu = self.ppus[self.active_map_renderer]
-        resolution = self.map_resolution * ppu
-        points = ((points - origin[:2]) / resolution).astype(int)
-        size = math.ceil(size / ppu)
-
-        for point in points:
-            pygame.draw.circle(self.map_canvas, color, point, size)
-
-    def render_lines(
-        self,
-        points: list | np.ndarray,
-        color: Optional[tuple[int, int, int]] = (0, 0, 255),
-        size: Optional[int] = 1,
-    ) -> None:
-        """
-        Render a sequence of lines segments.
-
-        Parameters
-        ----------
-        points : list | np.ndarray
-            list of points to render
-        color : Optional[tuple[int, int, int]], optional
-            color as rgb tuple, by default blue (0, 0, 255)
-        size : Optional[int], optional
-            size of the line, by default 1
-        """
-        origin = self.map_origin
-        ppu = self.ppus[self.active_map_renderer]
-        resolution = self.map_resolution * ppu
-        points = ((points - origin[:2]) / resolution).astype(int)
-        size = math.ceil(size / ppu)
-
-        pygame.draw.lines(
-            self.map_canvas, color, closed=False, points=points, width=size
-        )
-
-    def render_closed_lines(
-        self,
-        points: list | np.ndarray,
-        color: Optional[tuple[int, int, int]] = (0, 0, 255),
-        size: Optional[int] = 1,
-    ) -> None:
-        """
-        Render a sequence of lines segments forming a closed loop (draw a line between the last and the first point).
-
-        Parameters
-        ----------
-        points : list | np.ndarray
-            list of 2d points to render
-        color : Optional[tuple[int, int, int]], optional
-            color as rgb tuple, by default blue (0, 0, 255)
-        size : Optional[int], optional
-            size of the line, by default 1
-        """
-        origin = self.map_origin
-        ppu = self.ppus[self.active_map_renderer]
-        resolution = self.map_resolution * ppu
-        points = ((points - origin[:2]) / resolution).astype(int)
-        size = math.ceil(size / ppu)
-
-        pygame.draw.lines(
-            self.map_canvas, color, closed=True, points=points, width=size
-        )
-
-    def close(self) -> None:
-        """
-        Close the rendering environment.
-        """
-        if self.render_mode in ["human", "human_fast"]:
-            pygame.quit()
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index c1b030e7..a06fc512 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -33,83 +33,32 @@ def __init__(self, x, y,
         vxs: Optional[np.ndarray] = None,
         axs: Optional[np.ndarray] = None,
         ss: Optional[np.ndarray] = None,
-    ):
-        self.xs = x
-        self.ys = y
-        input_vals = [x, y, psis, ks, vxs, axs, ss]
-
-        # Only close the path if for the input values from the user,
-        # the first and last points are not the same => the path is not closed
-        # Otherwise, the constructed values can mess up the s calculation and closure
-        need_closure = False
-        for input_val in input_vals:
-            if input_val is not None:
-                if not (input_val[-1] == input_val[0]):
-                    need_closure = True
-                    break
-
-        def close_with_constructor(input_val, constructor, closed_path):
-            '''
-            If the input value is not None, return it.
-            Otherwise, return the constructor, with closure if necessary.
-
-            Parameters
-            ----------
-            input_val : np.ndarray | None
-                The input value from the user.
-            constructor : np.ndarray
-                The constructor to use if the input value is None.
-            closed_path : bool
-                Indicator whether the orirignal path is closed.
-            '''
-            if input_val is not None:
-                return input_val 
-            else:
-                temp_ret = constructor
-                if closed_path:
-                   temp_ret[-1] = temp_ret[0]
-                return temp_ret
-            
-        self.psis = close_with_constructor(psis, self._calc_yaw_from_xy(x, y), not need_closure)
-        self.ks = close_with_constructor(ks, self._calc_kappa_from_xy(x, y), not need_closure)
-        self.vxs = close_with_constructor(vxs, np.ones_like(x), not need_closure)
-        self.axs = close_with_constructor(axs, np.zeros_like(x), not need_closure)
-        self.ss = close_with_constructor(ss, self.__calc_s(x, y), not need_closure)
-        psis_spline = close_with_constructor(psis, self._calc_yaw_from_xy(x, y), not need_closure)
-
-        # If yaw is provided, interpolate cosines and sines of yaw for continuity
-        cosines_spline = np.cos(psis_spline)
-        sines_spline = np.sin(psis_spline)
+    ):        
+        psis = psis if psis is not None else self._calc_yaw_from_xy(x, y)
+        ks = ks if ks is not None else self._calc_kappa_from_xy(x, y)
+        vxs = vxs if vxs is not None else np.ones_like(x)
+        axs = axs if axs is not None else np.zeros_like(x)
+
+        self.points = np.c_[x, y, 
+                            np.cos(psis), np.sin(psis), 
+                            ks, vxs, axs]
         
-        ks_spline = close_with_constructor(ks, self._calc_kappa_from_xy(x, y), not need_closure)
-        vxs_spline = close_with_constructor(vxs, np.zeros_like(x), not need_closure)
-        axs_spline = close_with_constructor(axs, np.zeros_like(x), not need_closure)
-
-        self.points = np.c_[self.xs, self.ys, 
-                            cosines_spline, sines_spline, 
-                            ks_spline, vxs_spline, axs_spline]
-        
-        if need_closure:
-            self.points = np.vstack(
-                (self.points, self.points[0])
-            )  # Ensure the path is closed
-
-        if ss is not None:
-            self.s = ss
+        if np.any(self.points[-1, :2] != self.points[0, :2]):
+            self.points = np.vstack((self.points, self.points[0]))
         else:
-            self.s = self.__calc_s(self.points[:, 0], self.points[:, 1])
-        self.s_interval = (self.s[-1] - self.s[0]) / len(self.s)
+            self.points[-1] = self.points[0]
+        self.s = ss if ss is not None else self.__calc_s(self.points[:, 0], self.points[:, 1])
+        # self.s_interval = (self.s[-1] - self.s[0]) / len(self.s)
 
         # Use scipy CubicSpline to interpolate the points with periodic boundary conditions
-        # This is necesaxsry to ensure the path is continuous
+        # This is necessary to ensure the path is continuous
         self.spline = interpolate.CubicSpline(self.s, self.points, bc_type="periodic")
         self.spline_x = np.array(self.spline.x) 
-        self.spline_c = np.array(self.spline.c)
-
 
     def find_segment_for_s(self, x):
         # Find the segment of the spline that x is in
-        return (x / (self.spline.x[-1] + self.s_interval) * (len(self.spline_x) - 1)).astype(int)
+        # return (x / (self.spline.x[-1] + self.s_interval) * (len(self.spline_x) - 1)).astype(int)
+        return (x / (self.spline.x[-1]) * (len(self.spline_x) - 2)).astype(int)
     
     def predict_with_spline(self, point, segment, state_index=0):
         # A (4, 100) array, where the rows contain (x-x[i])**3, (x-x[i])**2 etc.
diff --git a/f1tenth_gym/envs/track/raceline.py b/f1tenth_gym/envs/track/raceline.py
index d2dc18fb..fe05116a 100644
--- a/f1tenth_gym/envs/track/raceline.py
+++ b/f1tenth_gym/envs/track/raceline.py
@@ -64,6 +64,8 @@ def __init__(
 
         # compute spline through waypoints if not provided
         self.spline = spline or CubicSpline2D(x=xs, y=ys)
+        self.s_frame_max = self.spline.s[-1]
+        self.s_guess = 0.0
 
         self.waypoint_renderer = None
 
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index 6aaf751f..929e56df 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -416,8 +416,9 @@ def frenet_to_cartesian(self, s, ey, ephi, use_raceline=False):
             psi: yaw angle
         """
         line = self.raceline if use_raceline else self.centerline
-        x, y = line.spline.calc_position(s)
-        psi = line.spline.calc_yaw(s)
+        s = s % self.s_frame_max
+        x, y = self.centerline.calc_position(s)
+        psi = self.centerline.calc_yaw(s)
 
         # Adjust x,y by shifting along the normal vector
         x -= ey * np.sin(psi)
@@ -425,10 +426,9 @@ def frenet_to_cartesian(self, s, ey, ephi, use_raceline=False):
 
         # Adjust psi by adding the heading deviation
         psi += ephi
+        return x, y, psi % (2 * np.pi)
 
-        return x, y, psi
-
-    def cartesian_to_frenet(self, x, y, phi, use_raceline=False, s_guess=0):
+    def cartesian_to_frenet(self, x, y, phi, use_raceline=False, s_guess=None):
         """
         Convert Cartesian coordinates to Frenet coordinates.
 
@@ -441,11 +441,14 @@ def cartesian_to_frenet(self, x, y, phi, use_raceline=False, s_guess=0):
             ey: lateral deviation
             ephi: heading deviation
         """
+        if s_guess is None:
+            s_guess = self.s_guess
         line = self.raceline if use_raceline else self.centerline
         # s, ey = line.spline.calc_arclength_inaccurate(x, y) # inaccurate, but much faster
         s, ey = line.spline.calc_arclength(x, y, s_guess)
         # Wrap around
         s = s % line.spline.s[-1]
+        self.s_guess = s
 
         # Use the normal to calculate the signed lateral deviation
         yaw = line.spline.calc_yaw(s)
diff --git a/pyproject.toml b/pyproject.toml
index d5580c7a..38000254 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,13 +39,15 @@ pillow = ">=9.0.1"
 scipy = ">=1.7.3"
 numba = ">=0.55.2"
 PyYAML = ">=5.3.1"
-pygame = "^2.5.2"
+PyOpenGL = "==3.1.9"
+PyOpenGL-accelerate = "==3.1.9"
+# pygame = "^2.5.2"
 opencv-python = "^4.9.0.80"
 yamldataclassconfig = "^1.5.0"
 requests = "^2.31.0"
-shapely = "^2.0.2"
+# shapely = "^2.0.2"
 pyqtgraph = "^0.13.7"
-PyQt6 = "^6.7.1"
+PyQt6 = "==6.9.0"
 
 [tool.poetry.group.dev.dependencies]
 pytest = "^7.4.4"

From 5781d1182edb9440d998530072fac021d50150fa Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Wed, 11 Jun 2025 04:40:33 -0400
Subject: [PATCH 17/54] fuck scipy.optimization

---
 f1tenth_gym/envs/f110_env.py           |  4 +-
 f1tenth_gym/envs/track/cubic_spline.py | 91 ++++++++++++++++++++------
 f1tenth_gym/envs/track/track.py        |  1 +
 3 files changed, 75 insertions(+), 21 deletions(-)

diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index c469627e..c885390e 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -40,7 +40,7 @@
 from .reset import make_reset_fn
 from .track import Track
 from .utils import deep_update
-
+import time
 
 class F110Env(gym.Env):
     """
@@ -148,7 +148,7 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
                 track_scale=self.config["map_scale"],
             )  # load track in gym env for convenience
         self.sim.set_map(self.track, self.config["map_scale"])
-
+        
         # observations
         self.agent_ids = [f"agent_{i}" for i in range(self.num_agents)]
 
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index a06fc512..9695af85 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -6,12 +6,64 @@
 import math
 
 import numpy as np
-import scipy.optimize as so
 from scipy import interpolate
 from typing import Union, Optional
-
+import time
 from f1tenth_gym.envs.track.utils import nearest_point_on_trajectory
 
+from numba import njit
+@njit(fastmath=False, cache=True)
+def nearest_point_on_trajectory(point: np.ndarray, trajectory: np.ndarray) -> tuple:
+    """
+    Return the nearest point along the given piecewise linear trajectory.
+
+    Same as nearest_point_on_line_segment, but vectorized. This method is quite fast, time constraints should
+    not be an issue so long as trajectories are not insanely long.
+
+        Order of magnitude: trajectory length: 1000 --> 0.0002 second computation (5000fps)
+
+    Parameters
+    ----------
+    point: np.ndarray
+        The 2d point to project onto the trajectory
+    trajectory: np.ndarray
+        The trajectory to project the point onto, shape (N, 2)
+        The points must be unique. If they are not unique, a divide by 0 error will destroy the world
+
+    Returns
+    -------
+    nearest_point: np.ndarray
+        The nearest point on the trajectory
+    distance: float
+        The distance from the point to the nearest point on the trajectory
+    t: float
+    min_dist_segment: int
+        The index of the nearest point on the trajectory
+    """
+    diffs = trajectory[1:, :] - trajectory[:-1, :]
+    l2s = diffs[:, 0] ** 2 + diffs[:, 1] ** 2
+    # this is equivalent to the elementwise dot product
+    # dots = np.sum((point - trajectory[:-1,:]) * diffs[:,:], axis=1)
+    dots = np.empty((trajectory.shape[0] - 1,))
+    for i in range(dots.shape[0]):
+        dots[i] = np.dot((point - trajectory[i, :]), diffs[i, :])
+    t = dots / l2s
+    t[t < 0.0] = 0.0
+    t[t > 1.0] = 1.0
+    # t = np.clip(dots / l2s, 0.0, 1.0)
+    projections = trajectory[:-1, :] + (t * diffs.T).T
+    # dists = np.linalg.norm(point - projections, axis=1)
+    dists = np.empty((projections.shape[0],))
+    for i in range(dists.shape[0]):
+        temp = point - projections[i]
+        dists[i] = np.sqrt(np.sum(temp * temp))
+    min_dist_segment = np.argmin(dists)
+    return (
+        dists[min_dist_segment],
+        t[min_dist_segment],
+        min_dist_segment,
+    )
+
 
 class CubicSpline2D:
     """
@@ -48,23 +100,25 @@ def __init__(self, x, y,
         else:
             self.points[-1] = self.points[0]
         self.s = ss if ss is not None else self.__calc_s(self.points[:, 0], self.points[:, 1])
-        # self.s_interval = (self.s[-1] - self.s[0]) / len(self.s)
+        self.s_interval = (self.s[-1] - self.s[0]) / len(self.s)
 
         # Use scipy CubicSpline to interpolate the points with periodic boundary conditions
         # This is necessary to ensure the path is continuous
         self.spline = interpolate.CubicSpline(self.s, self.points, bc_type="periodic")
         self.spline_x = np.array(self.spline.x) 
+        self.spline_c = np.array(self.spline.c) 
 
     def find_segment_for_s(self, x):
         # Find the segment of the spline that x is in
-        # return (x / (self.spline.x[-1] + self.s_interval) * (len(self.spline_x) - 1)).astype(int)
-        return (x / (self.spline.x[-1]) * (len(self.spline_x) - 2)).astype(int)
+        # print(x, self.spline.x[-1], self.s_interval, len(self.spline_x))
+        return (x / (self.spline.x[-1] + self.s_interval) * (len(self.spline_x) - 1)).astype(int)
+        # return (x / (self.spline.x[-1]) * (len(self.spline_x) - 2)).astype(int)
     
     def predict_with_spline(self, point, segment, state_index=0):
         # A (4, 100) array, where the rows contain (x-x[i])**3, (x-x[i])**2 etc.
         # exp_x = (point - self.spline.x[[segment]])[None, :] ** np.arange(4)[::-1, None]
         exp_x = ((point - self.spline.x[segment % len(self.spline.x)]) ** np.arange(4)[::-1])[:, None]
-        vec = self.spline.c[:, segment % self.spline.c.shape[1], state_index]
+        vec = self.spline_c[:, segment % self.spline_c.shape[1], state_index]
         # Sum over the rows of exp_x weighted by coefficients in the ith column of s.c
         point = vec.dot(exp_x)
         return np.asarray(point)
@@ -88,14 +142,12 @@ def __calc_s(self, x: np.ndarray, y: np.ndarray) -> np.ndarray:
         dx = np.diff(x)
         dy = np.diff(y)
         self.ds = np.hypot(dx, dy)
-        s = [0]
-        s.extend(np.cumsum(self.ds))
-        return np.array(s)
+        return np.concatenate([np.array([0]), np.cumsum(self.ds)])
     
     def _calc_yaw_from_xy(self, x, y):
         dx_dt = np.gradient(x, edge_order=2)
         dy_dt = np.gradient(y, edge_order=2)
-        heading = np.arctan2(dy_dt, dx_dt)
+        heading = (np.arctan2(dy_dt, dx_dt) + 2 * math.pi) % (2 * math.pi)
         return heading
 
     def _calc_kappa_from_xy(self, x, y):
@@ -191,7 +243,7 @@ def calc_yaw(self, s: float) -> Optional[float]:
         return yaw
 
     def calc_arclength(
-        self, x: float, y: float, s_guess: float = 0.0
+        self, x: float, y: float, s_guess: float = 0.0,
     ) -> tuple[float, float]:
         """
         Calculate arclength for a given point (x, y) on the trajectory.
@@ -212,15 +264,16 @@ def calc_arclength(
         ey : float
             lateral deviation for given x, y.
         """
+        ey, t, min_dist_segment = nearest_point_on_trajectory(
+            np.array([x, y]).astype(np.float32), self.points[:, :2]
+        )
+        # s = s at closest_point + t
+        s = float(
+            self.s[min_dist_segment]
+            + t * (self.s[min_dist_segment + 1] - self.s[min_dist_segment])
+        )
 
-        def distance_to_spline(s):
-            x_eval, y_eval = self.spline(s)[0, :2]
-            return np.sqrt((x - x_eval) ** 2 + (y - y_eval) ** 2)
-
-        output = so.fmin(distance_to_spline, s_guess, full_output=True, disp=False)
-        closest_s = float(output[0][0])
-        absolute_distance = output[1]
-        return closest_s, absolute_distance
+        return s, ey
 
     def calc_arclength_inaccurate(self, x: float, y: float, s_inds=None) -> tuple[float, float]:
         """
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index 929e56df..eb89dc2a 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -69,6 +69,7 @@ def __init__(
         self.occupancy_map = occupancy_map
         self.centerline = centerline
         self.raceline = raceline
+        self.s_guess = None
 
     @staticmethod
     def load_spec(track: str, filespec: str) -> TrackSpec:

From 6a23a610031ae0357fc6b59713dec79e0467bb50 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Thu, 12 Jun 2025 04:33:45 -0400
Subject: [PATCH 18/54] add frenet

---
 README.md                              |   3 +-
 examples/test.py                       |  68 ------------
 examples/test_pyqtopengl.py            | 134 -----------------------
 examples/waypoint_follow.py            |   7 +-
 f1tenth_gym/envs/base_classes.py       |  26 +++--
 f1tenth_gym/envs/f110_env.py           | 108 +++++++++----------
 f1tenth_gym/envs/laser_models.py       |  24 +++--
 f1tenth_gym/envs/observation.py        |   9 +-
 f1tenth_gym/envs/track/cubic_spline.py | 144 ++++++++-----------------
 f1tenth_gym/envs/track/track.py        |  36 ++++---
 f1tenth_gym/envs/track/utils.py        |   7 +-
 tests/test_observation.py              |   6 +-
 12 files changed, 171 insertions(+), 401 deletions(-)
 delete mode 100644 examples/test.py
 delete mode 100644 examples/test_pyqtopengl.py

diff --git a/README.md b/README.md
index baaad140..736305eb 100644
--- a/README.md
+++ b/README.md
@@ -7,12 +7,13 @@ Zirui branch TODO list:
 - [ ] verify collision
 - [x] scan toggle
 - [x] separate time step and integrater time step
-- [ ] add frenet
+- [x] add frenet
 - [ ] use correct loop count
 - [x] simplify std_state and observation
 - [x] add option "state" in reset
 - [x] control_buffer_size, lidar fov, lidar nums in config
 - [ ] double check dynamics result
+- [x] implemented new rendering with pyqtgraph.opengl
 
 ## Quickstart
 We recommend installing the simulation inside a virtualenv. You can install the environment by running:
diff --git a/examples/test.py b/examples/test.py
deleted file mode 100644
index 7c039325..00000000
--- a/examples/test.py
+++ /dev/null
@@ -1,68 +0,0 @@
-import sys
-import time
-import numpy as np
-from PyQt6 import QtWidgets, QtCore, QtGui
-import pyqtgraph.opengl as gl
-
-
-class OpenGLRectangleWithFPS(QtWidgets.QMainWindow):
-    def __init__(self):
-        super().__init__()
-        self.setWindowTitle("OpenGL Rectangle with FPS")
-
-        # Set up GL view widget
-        self.view = gl.GLViewWidget()
-        self.setCentralWidget(self.view)
-        self.view.setCameraPosition(distance=20, elevation=90, azimuth=0)
-
-        # Rectangle
-        rectangle = np.array([
-            [0, 0, 0],
-            [5, 0, 0],
-            [5, 3, 0],
-            [0, 3, 0],
-            [0, 0, 0]
-        ], dtype=np.float32)
-
-        rect_item = gl.GLLinePlotItem(pos=rectangle, color=(1, 0, 0, 1), width=2, mode='line_strip')
-        self.view.addItem(rect_item)
-
-        # FPS label (parent is the main window, not GL view!)
-        self.fps_label = QtWidgets.QLabel(self)
-        self.fps_label.setText("FPS: ...")
-        self.fps_label.setStyleSheet("color: white; background-color: rgba(0,0,0,180); padding: 4px;")
-        self.fps_label.setFont(QtGui.QFont("Courier", 14, QtGui.QFont.Weight.Bold))
-        self.fps_label.setGeometry(10, 10, 150, 30)
-        self.fps_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
-        self.fps_label.raise_()  # Ensure it's on top
-
-        # Timing
-        self.last_time = time.time()
-        self.frame_count = 0
-
-        # Timer for render loop
-        self.timer = QtCore.QTimer()
-        self.timer.timeout.connect(self.render)
-        self.timer.start(0)
-
-    def render(self):
-        self._update_fps()
-        self.view.update()
-
-    def _update_fps(self):
-        self.frame_count += 1
-        current_time = time.time()
-        elapsed = current_time - self.last_time
-        if elapsed >= 1.0:
-            fps = self.frame_count / elapsed
-            self.fps_label.setText(f"FPS: {fps:.1f}")
-            self.last_time = current_time
-            self.frame_count = 0
-
-
-if __name__ == "__main__":
-    app = QtWidgets.QApplication(sys.argv)
-    window = OpenGLRectangleWithFPS()
-    window.resize(800, 600)
-    window.show()
-    sys.exit(app.exec())
diff --git a/examples/test_pyqtopengl.py b/examples/test_pyqtopengl.py
deleted file mode 100644
index 07097415..00000000
--- a/examples/test_pyqtopengl.py
+++ /dev/null
@@ -1,134 +0,0 @@
-import sys
-import time
-import numpy as np
-from PyQt6 import QtWidgets, QtCore, QtGui
-import pyqtgraph.opengl as gl
-from PyQt6.QtGui import QSurfaceFormat
-
-fmt = QSurfaceFormat()
-fmt.setSwapInterval(0)  # 0 = no vsync, 1 = vsync
-QSurfaceFormat.setDefaultFormat(fmt)
-
-
-class OpenGLRectangleWithFPS(QtWidgets.QMainWindow):
-    def __init__(self):
-        super().__init__()
-        self.setWindowTitle("OpenGL Filled Rectangle with FPS")
-        # Set up GL view widget
-        self.view = gl.GLViewWidget()
-        self.setCentralWidget(self.view)
-
-        # Fix camera to XY view
-        self.view.opts['elevation'] = 90  # Top-down
-        self.view.opts['azimuth'] = 0     # Facing +Y
-        self.view.setCameraPosition(distance=40)
-
-        # 🔧 Replace mouse drag behavior: allow pan (right drag), disable rotation
-        self._enable_pan_only()
-
-        # Add 2D background using GLImageItem
-        map_img = np.zeros((200, 300), dtype=np.uint8)
-        map_img[50:150, 100:200] = 255
-        map_rgb = np.stack([map_img]*3, axis=-1)
-        alpha = np.ones((map_rgb.shape[0], map_rgb.shape[1], 1), dtype=np.uint8) * 255
-        map_rgba = np.concatenate((map_rgb, alpha), axis=-1)
-        map_rgba = np.flip(np.rot90(map_rgba, k=1), axis=0)
-        image_item = gl.GLImageItem(map_rgba)
-        image_item.translate(0, 0, -0.01)
-        image_item.scale(0.1, 0.1, 1)
-        # self.view.addItem(image_item)
-
-        # Define rectangle corners (XY plane, z=0)
-        rectangle = np.array([
-            [0, 0, 0],
-            [5, 0, 0],
-            [5, 3, 0],
-            [0, 3, 0]
-        ], dtype=np.float32)
-
-        # Line outline
-        # outline = np.vstack([rectangle, rectangle[0]])
-        # rect_item = gl.GLLinePlotItem(pos=outline, color=(1, 0, 0, 1), width=2, mode='line_strip')
-        # self.view.addItem(rect_item)
-
-        # Fill with GLMeshItem
-        faces = np.array([
-            [0, 1, 2],
-            [0, 2, 3]
-        ])
-        mesh_item = gl.GLMeshItem(
-            vertexes=rectangle,
-            faces=faces,
-            faceColors=np.array([[0, 0.7, 0.9, 1.0], [0, 0.7, 0.9, 1.0]]),
-            smooth=False,
-            drawEdges=False
-        )
-        self.view.addItem(mesh_item)
-
-        # FPS label
-        self.fps_label = QtWidgets.QLabel(self)
-        font = QtGui.QFont("Courier New", 14, QtGui.QFont.Weight.Bold)
-        self.fps_label.setFont(font)
-        self.fps_label.setStyleSheet("color: white; background-color: black; padding: 2px;")
-        self.fps_label.move(10, 10)
-        self.fps_label.resize(100, 20)
-        self.fps_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
-
-        # Frame timer
-        self.last_time = time.time()
-        self.frame_count = 0
-        # self.timer = QtCore.QTimer()
-        # self.timer.timeout.connect(self._update_fps)
-        # self.timer.start(0)
-
-    def _enable_pan_only(self):
-        """Override GLViewWidget events to disable rotation and allow right-click panning."""
-        self.view.pan_active = False
-        self.view.pan_start = QtCore.QPoint()
-
-        def mousePressEvent(event):
-            if event.button() == QtCore.Qt.MouseButton.LeftButton:
-                self.view.pan_active = True
-                self.view.pan_start = event.pos()
-                event.accept()
-            else:
-                event.ignore()
-
-        def mouseMoveEvent(event):
-            if self.view.pan_active:
-                delta = event.pos() - self.view.pan_start
-                dx = -delta.y() * 0.01
-                dy = -delta.x() * 0.01
-                self.view.pan(dx, dy, 0)
-                self.view.pan_start = event.pos()
-                event.accept()
-            else:
-                event.ignore()
-
-        def mouseReleaseEvent(event):
-            self.view.pan_active = False
-            event.accept()
-
-        self.view.mousePressEvent = mousePressEvent
-        self.view.mouseMoveEvent = mouseMoveEvent
-        self.view.mouseReleaseEvent = mouseReleaseEvent
-
-    def _update_fps(self):
-        self.frame_count += 1
-        now = time.time()
-        elapsed = now - self.last_time
-
-        if elapsed >= 1.0:
-            fps = self.frame_count / elapsed
-            self.fps_label.setText(f"FPS: {fps:.1f}")
-            self.last_time = now
-            self.frame_count = 0
-        self.view.update()
-
-
-if __name__ == "__main__":
-    app = QtWidgets.QApplication(sys.argv)
-    window = OpenGLRectangleWithFPS()
-    window.resize(800, 600)
-    window.show()
-    sys.exit(app.exec())
diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 5c9c6862..0102ff14 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -305,7 +305,7 @@ def main():
         "mass": 3.463388126201571,
         "lf": 0.15597534362552312,
         "tlad": 0.82461887897713965,
-        "vgain": 0.5,
+        "vgain": 0.2,
     }
 
     num_agents = 1
@@ -326,6 +326,7 @@ def main():
             "map_scale": 1.0,
             "enable_rendering": 1,
             "enable_scan": 1,
+            "lidar_num_beams": 270,
             "compute_frenet": 1,
         },
         render_mode="human_fast",
@@ -365,10 +366,12 @@ def main():
                 work["vgain"],
             )
             action[i] = np.array([steer, speed])
+            # print("frenet_pose", obs[agent_id]["frenet_pose"])
         t1 = time.time()
         obs, step_reward, done, truncated, info = env.step(action)
+        
         times.append(1/(time.time() - t1))
-        if len(times) > 10000:
+        if len(times) > 2000:
             print("FPS:", np.mean(times))
             times = []
         laptime += step_reward
diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
index 5c43adfa..b9fb7262 100644
--- a/f1tenth_gym/envs/base_classes.py
+++ b/f1tenth_gym/envs/base_classes.py
@@ -48,6 +48,7 @@ class RaceCar(object):
         num_beams (int): number of beams in laser
         fov (float): field of view of laser
         state (np.ndarray (7, )): state vector [x, y, theta, vel, steer_angle, ang_vel, slip_angle]
+        frenet_pose (np.ndarray (3, )): frenet pose vector [s, d, theta]
         odom (np.ndarray(13, )): odometry vector [x, y, z, qx, qy, qz, qw, linear_x, linear_y, linear_z, angular_x, angular_y, angular_z]
         accel (float): current acceleration input
         steer_angle_vel (float): current steering velocity input
@@ -70,6 +71,7 @@ def __init__(
         model=DynamicModel.ST,
         is_ego=False,
         time_step=0.01,
+        track = None,
     ):
         """
 
@@ -103,6 +105,7 @@ def __init__(
         self.integrator = integrator
         self.action_type = action_type
         self.model = model
+        self.track = track
         if self.model == DynamicModel.MB:
             from .dynamic_models.multi_body.multi_body import sequential_param_keys
             self.sequential_param_keys = sequential_param_keys
@@ -112,6 +115,8 @@ def __init__(
 
         # state of the vehicle
         self.state = self.model.get_initial_state(params=self.params)
+        if self.config['compute_frenet'] and self.track is not None:
+            self.frenet_pose = self.track.cartesian_to_frenet(self.state[0], self.state[1], self.state[4], use_s_guess=False)
 
         # pose of opponents in the world
         self.opp_poses = None
@@ -216,6 +221,8 @@ def reset(self, pose, option='pose'):
             self.state = self.model.get_initial_state(pose=pose, params=self.params)
         elif option == 'state':
             self.state = pose
+        if self.config['compute_frenet'] and self.track is not None:
+            self.frenet_pose = self.track.cartesian_to_frenet(self.state[0], self.state[1], self.state[4], use_s_guess=False)
 
         self.steer_buffer = np.empty((0,))
         # reset scan random generator
@@ -344,7 +351,7 @@ def update_dynamic(self, raw_steer, vel):
             )
 
         # bound yaw angle
-        self.state[4] %= 2 * np.pi  # TODO: This is a problem waiting to happen
+        self.state[4] = (self.state[4] + 2 * np.pi) % (2 * np.pi)  # TODO: This is a problem waiting to happen
 
         if self.config['enable_scan']:
             # update scan
@@ -353,6 +360,10 @@ def update_dynamic(self, raw_steer, vel):
             )
         else:
             current_scan = np.zeros((self.num_beams,))
+            
+        if self.config['compute_frenet'] and self.track is not None:
+            # update frenet poses for all agents
+            self.frenet_pose = self.track.cartesian_to_frenet(self.state[0], self.state[1], self.state[4])
 
         return current_scan
 
@@ -399,9 +410,7 @@ def standard_state(self) -> np.ndarray:
         Returns:
             np.ndarray (7, ): state of the vehicle
         """
-        # t1 = time.time()
         standard_state = self.standard_state_fn(self.state)
-        # print(time.time() - t1)
         return standard_state
 
 
@@ -434,6 +443,7 @@ def __init__(
         model=DynamicModel.ST,
         time_step=0.01,
         ego_idx=0,
+        track : Track | None = None,
     ):
         """
         Init function
@@ -462,6 +472,7 @@ def __init__(
         self.collisions = np.zeros((self.num_agents,))
         self.collision_idx = -1 * np.ones((self.num_agents,))
         self.model = model
+        self.track = track
 
         # initializing agents
         for i in range(self.num_agents):
@@ -474,6 +485,7 @@ def __init__(
                 integrator=integrator,
                 model=model,
                 action_type=action_type,
+                track=self.track,
             )
             self.agents.append(car)
 
@@ -559,10 +571,10 @@ def step(self, control_inputs):
             self.agent_poses[i, :] = np.append(agent.state[0:2], agent.state[4])
             self.agent_steerings[i] = agent.state[2]
             
-        if self.config['enable_scan']:
-            # check collisions between all agents
-            self.check_collision()
-
+            
+        # check collisions between all agents
+        self.check_collision()
+            
         for i, agent in enumerate(self.agents):
             # update agent's information on other agents
             opp_poses = np.concatenate(
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index c885390e..3a35d447 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -40,7 +40,6 @@
 from .reset import make_reset_fn
 from .track import Track
 from .utils import deep_update
-import time
 
 class F110Env(gym.Env):
     """
@@ -128,6 +127,14 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         self.start_thetas = np.zeros((self.num_agents,))
         self.start_rot = np.eye(2)
         
+        if isinstance(self.map, Track):
+            self.track = self.map
+        else:
+            self.track = Track.from_track_name(
+                self.map,
+                track_scale=self.config["map_scale"],
+            )  # load track in gym env for convenience
+        
         # initiate stuff
         self.sim = Simulator(
             self.config,
@@ -138,15 +145,8 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
             integrator=self.integrator,
             model=self.model,
             action_type=self.action_type,
+            track=self.track,
         )
-
-        if isinstance(self.map, Track):
-            self.track = self.map
-        else:
-            self.track = Track.from_track_name(
-                self.map,
-                track_scale=self.config["map_scale"],
-            )  # load track in gym env for convenience
         self.sim.set_map(self.track, self.config["map_scale"])
         
         # observations
@@ -185,6 +185,45 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
                 render_mode=render_mode,
                 render_fps=self.metadata["render_fps"],
             )
+            
+    @classmethod
+    def default_config(cls) -> dict:
+        """
+        Default environment configuration.
+
+        Can be overloaded in environment implementations, or by calling configure().
+
+        Args:
+            None
+
+        Returns:
+            a configuration dict
+        """
+        return {
+            "seed": 12345,
+            "map": "Spielberg",
+            "map_scale": 1.0,
+            "params": cls.f1tenth_vehicle_params(),
+            "num_agents": 2,
+            "timestep": 0.01,
+            "integrator_timestep": 0.01,
+            "ego_idx": 0,
+            "integrator": "rk4",
+            "model": "st", # "ks", "st", "mb"
+            "control_input": ["speed", "steering_angle"],
+            "observation_config": {"type": "direct"},
+            "reset_config": {"type": None},
+            "enable_rendering": True,
+            "enable_scan": True, # NOTE no lidar scan and collision if False
+            "lidar_fov" : 4.712389,
+            "lidar_num_beams": 1080,
+            "lidar_range": 30.0,
+            "lidar_noise_std": 0.01,
+            "steer_delay_buffer_size": 1,
+            "compute_frenet": True, # NOTE: currently always true
+            "collision_check_method": "bounding_box", # "lidar_scan", "bounding_box"
+            "loop_counting_method": "s_based", # "toggle", "s_based", "winding_angle"
+        }
 
     @classmethod
     def fullscale_vehicle_params(cls) -> dict:
@@ -373,43 +412,6 @@ def f1tenth_vehicle_params(cls) -> dict:
         }
         return params
 
-    @classmethod
-    def default_config(cls) -> dict:
-        """
-        Default environment configuration.
-
-        Can be overloaded in environment implementations, or by calling configure().
-
-        Args:
-            None
-
-        Returns:
-            a configuration dict
-        """
-        return {
-            "seed": 12345,
-            "map": "Spielberg",
-            "map_scale": 1.0,
-            "params": cls.f1tenth_vehicle_params(),
-            "num_agents": 2,
-            "timestep": 0.01,
-            "integrator_timestep": 0.01,
-            "ego_idx": 0,
-            "integrator": "rk4",
-            "model": "st", # "ks", "st", "mb"
-            "control_input": ["speed", "steering_angle"],
-            "observation_config": {"type": None},
-            "reset_config": {"type": None},
-            "enable_rendering": True,
-            "enable_scan": True, # NOTE no lidar scan and collision if False
-            "lidar_fov" : 4.712389,
-            "lidar_num_beams": 360,
-            "lidar_range": 30.0,
-            "lidar_noise_std": 0.01,
-            "steer_delay_buffer_size": 1,
-            "compute_frenet": False,
-        }
-
     def configure(self, config: dict) -> None:
         if config:
             self.config = deep_update(self.config, config)
@@ -507,20 +509,6 @@ def step(self, action):
         # update data member
         self._update_state()
 
-        # rendering observation
-        # if self.config["enable_rendering"]:
-        #     self.render_obs = {
-        #         "ego_idx": self.sim.ego_idx,
-        #         "poses_x": self.sim.agent_poses[:, 0],
-        #         "poses_y": self.sim.agent_poses[:, 1],
-        #         "poses_theta": self.sim.agent_poses[:, 2],
-        #         "steering_angles": self.sim.agent_steerings,
-        #         "lap_times": self.lap_times,
-        #         "lap_counts": self.lap_counts,
-        #         "collisions": self.sim.collisions,
-        #         "sim_time": self.sim_time,
-        #     }
-
         # check done
         done, toggle_list = self._check_done()
         truncated = False
diff --git a/f1tenth_gym/envs/laser_models.py b/f1tenth_gym/envs/laser_models.py
index 7f2febe1..1e10efa8 100644
--- a/f1tenth_gym/envs/laser_models.py
+++ b/f1tenth_gym/envs/laser_models.py
@@ -265,17 +265,19 @@ def check_ttc_jit(scan, vel, scan_angles, cosines, side_distances, ttc_thresh):
         in_collision (bool): whether vehicle is in collision with environment
         collision_angle (float): at which angle the collision happened
     """
-    in_collision = False
-    if vel != 0.0:
-        num_beams = scan.shape[0]
-        for i in range(num_beams):
-            proj_vel = vel * cosines[i]
-            ttc = (scan[i] - side_distances[i]) / proj_vel
-            if (ttc < ttc_thresh) and (ttc >= 0.0):
-                in_collision = True
-                break
-    else:
-        in_collision = False
+    ttc = scan - side_distances
+    in_collision = np.any(ttc <= ttc_thresh)
+    # in_collision = False
+    # if vel != 0.0:
+    #     num_beams = scan.shape[0]
+    #     for i in range(num_beams):
+    #         proj_vel = vel * cosines[i]
+    #         ttc = (scan[i] - side_distances[i]) / proj_vel
+    #         if (ttc < ttc_thresh) and (ttc >= 0.0):
+    #             in_collision = True
+    #             break
+    # else:
+    #     in_collision = False
 
     return in_collision
 
diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index d7ba792f..c43ef64d 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -48,9 +48,6 @@ def space(self):
                 "state": gym.spaces.Box(
                     low=-large_num, high=large_num, shape=(int(self.env.model.state_dim),), dtype=np.float32
                 ),
-                # "frenet_state": gym.spaces.Box(
-                #     low=-large_num, high=large_num, shape=(7,), dtype=np.float32
-                # ),
                 "collision": gym.spaces.Box(
                     low=0.0, high=1.0, shape=(), dtype=np.float32
                 ),
@@ -64,6 +61,10 @@ def space(self):
                     low=0.0, high=large_num, shape=(), dtype=np.float32
                 ),
             }
+            if self.env.unwrapped.config["compute_frenet"]:
+                agent_dict["frenet_pose"] = gym.spaces.Box(
+                    low=-large_num, high=large_num, shape=(3,), dtype=np.float32
+                )
             complete_space[agent_id] = gym.spaces.Dict(
                 agent_dict
             )
@@ -88,6 +89,8 @@ def observe(self):
                 "lap_count": self.env.unwrapped.lap_counts[i],
                 "sim_time": self.env.unwrapped.sim_time,
             }
+            if self.env.unwrapped.config["compute_frenet"]:
+                agent_obs["frenet_pose"] = agent.frenet_pose if hasattr(agent, 'frenet_pose') else np.zeros(3, dtype=np.float32)
 
             # add agent's observation to multi-agent observation
             obs[agent_id] = agent_obs
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index 9695af85..6e7852c5 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -8,62 +8,9 @@
 import numpy as np
 from scipy import interpolate
 from typing import Union, Optional
-import time
+# import scipy.optimize as so
 from f1tenth_gym.envs.track.utils import nearest_point_on_trajectory
-
 from numba import njit
-@njit(fastmath=False, cache=True)
-def nearest_point_on_trajectory(point: np.ndarray, trajectory: np.ndarray) -> tuple:
-    """
-    Return the nearest point along the given piecewise linear trajectory.
-
-    Same as nearest_point_on_line_segment, but vectorized. This method is quite fast, time constraints should
-    not be an issue so long as trajectories are not insanely long.
-
-        Order of magnitude: trajectory length: 1000 --> 0.0002 second computation (5000fps)
-
-    Parameters
-    ----------
-    point: np.ndarray
-        The 2d point to project onto the trajectory
-    trajectory: np.ndarray
-        The trajectory to project the point onto, shape (N, 2)
-        The points must be unique. If they are not unique, a divide by 0 error will destroy the world
-
-    Returns
-    -------
-    nearest_point: np.ndarray
-        The nearest point on the trajectory
-    distance: float
-        The distance from the point to the nearest point on the trajectory
-    t: float
-    min_dist_segment: int
-        The index of the nearest point on the trajectory
-    """
-    diffs = trajectory[1:, :] - trajectory[:-1, :]
-    l2s = diffs[:, 0] ** 2 + diffs[:, 1] ** 2
-    # this is equivalent to the elementwise dot product
-    # dots = np.sum((point - trajectory[:-1,:]) * diffs[:,:], axis=1)
-    dots = np.empty((trajectory.shape[0] - 1,))
-    for i in range(dots.shape[0]):
-        dots[i] = np.dot((point - trajectory[i, :]), diffs[i, :])
-    t = dots / l2s
-    t[t < 0.0] = 0.0
-    t[t > 1.0] = 1.0
-    # t = np.clip(dots / l2s, 0.0, 1.0)
-    projections = trajectory[:-1, :] + (t * diffs.T).T
-    # dists = np.linalg.norm(point - projections, axis=1)
-    dists = np.empty((projections.shape[0],))
-    for i in range(dists.shape[0]):
-        temp = point - projections[i]
-        dists[i] = np.sqrt(np.sum(temp * temp))
-    min_dist_segment = np.argmin(dists)
-    return (
-        dists[min_dist_segment],
-        t[min_dist_segment],
-        min_dist_segment,
-    )
-
 
 class CubicSpline2D:
     """
@@ -107,6 +54,8 @@ def __init__(self, x, y,
         self.spline = interpolate.CubicSpline(self.s, self.points, bc_type="periodic")
         self.spline_x = np.array(self.spline.x) 
         self.spline_c = np.array(self.spline.c) 
+        self.diffs = self.points[1:, :2] - self.points[:, :2][:-1, :2]
+        self.l2s = self.diffs[:, 0] ** 2 + self.diffs[:, 1] ** 2
 
     def find_segment_for_s(self, x):
         # Find the segment of the spline that x is in
@@ -162,7 +111,7 @@ def _calc_kappa_from_xy(self, x, y):
         curvature = (dx_dt * d2y_dt2 - d2x_dt2 * dy_dt) / (dx_dt * dx_dt + dy_dt * dy_dt)**1.5
         return curvature[2:-2]
 
-    def calc_position(self, s: float) -> np.ndarray:
+    def calc_position(self, s: float, segment=None) -> np.ndarray:
         """
         Calc position at the given s.
 
@@ -179,7 +128,7 @@ def calc_position(self, s: float) -> np.ndarray:
         y : float | None
             y position for given s.
         """
-        segment = self.find_segment_for_s(s)
+        segment = segment or self.find_segment_for_s(s)
         x = self.predict_with_spline(s, segment, 0)[0]
         y = self.predict_with_spline(s, segment, 1)[0]
         return x,y
@@ -222,7 +171,7 @@ def find_curvature(self, s: float) -> Optional[float]:
         k = self.points[segment, 4]
         return k
         
-    def calc_yaw(self, s: float) -> Optional[float]:
+    def calc_yaw(self, s: float, segment=None) -> Optional[float]:
         """
         Calc yaw angle at the given s.
 
@@ -236,44 +185,40 @@ def calc_yaw(self, s: float) -> Optional[float]:
         yaw : float
             yaw angle (tangent vector) for given s.
         """
-        segment = self.find_segment_for_s(s)
+        segment = segment or self.find_segment_for_s(s)
         cos = self.predict_with_spline(s, segment, 2)[0]
         sin = self.predict_with_spline(s, segment, 3)[0]
         yaw = (math.atan2(sin, cos) + 2 * math.pi) % (2 * math.pi)
         return yaw
 
-    def calc_arclength(
-        self, x: float, y: float, s_guess: float = 0.0,
-    ) -> tuple[float, float]:
-        """
-        Calculate arclength for a given point (x, y) on the trajectory.
-
-        Parameters
-        ----------
-        x : float
-            x position.
-        y : float
-            y position.
-        s_guess : float
-            initial guess for s.
-
-        Returns
-        -------
-        s : float
-            distance from the start point for given x, y.
-        ey : float
-            lateral deviation for given x, y.
-        """
-        ey, t, min_dist_segment = nearest_point_on_trajectory(
-            np.array([x, y]).astype(np.float32), self.points[:, :2]
-        )
-        # s = s at closest_point + t
-        s = float(
-            self.s[min_dist_segment]
-            + t * (self.s[min_dist_segment + 1] - self.s[min_dist_segment])
-        )
-
-        return s, ey
+    # def calc_arclength(
+    #     self, x: float, y: float, s_guess: float = 0.0
+    # ) -> tuple[float, float]:
+    #     """
+    #     Calculate arclength for a given point (x, y) on the trajectory.
+
+    #     Parameters
+    #     ----------
+    #     x : float
+    #         x position.
+    #     y : float
+    #         y position.
+    #     s_guess : float
+    #         initial guess for s.
+    #     Returns
+    #     -------
+    #     s : float
+    #         distance from the start point for given x, y.
+    #     ey : float
+    #         lateral deviation for given x, y.
+    #     """
+    #     def distance_to_spline(s):
+    #         x_eval, y_eval = self.spline(s)[0, :2]
+    #         return np.sqrt((x - x_eval) ** 2 + (y - y_eval) ** 2)
+    #     output = so.fmin(distance_to_spline, s_guess, full_output=True, disp=False)
+    #     closest_s = float(output[0][0])
+    #     absolute_distance = output[1]
+    #     return closest_s, absolute_distance
 
     def calc_arclength_inaccurate(self, x: float, y: float, s_inds=None) -> tuple[float, float]:
         """
@@ -296,14 +241,17 @@ def calc_arclength_inaccurate(self, x: float, y: float, s_inds=None) -> tuple[fl
             lateral deviation for given x, y.
         """
         if s_inds is None:
-            s_inds = np.arange(self.points.shape[0])
-        _, ey, t, min_dist_segment = nearest_point_on_trajectory(
-            np.array([x, y]).astype(np.float32), self.points[s_inds, :2]
-        )
-        min_dist_segment_s_ind = s_inds[min_dist_segment]
+            ey, t, min_dist_segment = nearest_point_on_trajectory(
+                np.asarray([x, y]).astype(np.float32), self.points[:, :2]
+            )
+        else:
+            ey, t, min_dist_segment = nearest_point_on_trajectory(
+                np.asarray([x, y]).astype(np.float32), self.points[s_inds, :2]
+            )
+            min_dist_segment = s_inds[min_dist_segment]
         s = float(
-            self.s[min_dist_segment_s_ind]
-            + t * (self.s[min_dist_segment_s_ind + 1] - self.s[min_dist_segment_s_ind])
+            self.s[min_dist_segment]
+            + t * (self.s[min_dist_segment + 1] - self.s[min_dist_segment])
         )
         return s, ey
 
@@ -343,4 +291,4 @@ def _calc_normal(self, s: float) -> np.ndarray:
         """
         dx, dy = self.spline(s, 1)[:2]
         normal = np.array([-dy, dx])
-        return normal
+        return normal
\ No newline at end of file
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index eb89dc2a..699a9ffd 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -70,6 +70,7 @@ def __init__(
         self.centerline = centerline
         self.raceline = raceline
         self.s_guess = None
+        self.frenet_search_range = 10 # meters
 
     @staticmethod
     def load_spec(track: str, filespec: str) -> TrackSpec:
@@ -417,9 +418,9 @@ def frenet_to_cartesian(self, s, ey, ephi, use_raceline=False):
             psi: yaw angle
         """
         line = self.raceline if use_raceline else self.centerline
-        s = s % self.s_frame_max
-        x, y = self.centerline.calc_position(s)
-        psi = self.centerline.calc_yaw(s)
+        s = s % line.s_frame_max
+        x, y = line.spline.calc_position(s)
+        psi = line.spline.calc_yaw(s)
 
         # Adjust x,y by shifting along the normal vector
         x -= ey * np.sin(psi)
@@ -427,38 +428,47 @@ def frenet_to_cartesian(self, s, ey, ephi, use_raceline=False):
 
         # Adjust psi by adding the heading deviation
         psi += ephi
-        return x, y, psi % (2 * np.pi)
+        return x, y, (psi + (2 * np.pi)) % (2 * np.pi)
 
-    def cartesian_to_frenet(self, x, y, phi, use_raceline=False, s_guess=None):
+    def cartesian_to_frenet(self, x, y, psi, use_raceline=False, s_guess=None, use_s_guess=True):
         """
         Convert Cartesian coordinates to Frenet coordinates.
 
         x: x-coordinate
         y: y-coordinate
-        phi: yaw angle
+        psi: yaw angle
 
         returns:
             s: distance along the centerline
             ey: lateral deviation
             ephi: heading deviation
         """
+        line = self.raceline if use_raceline else self.centerline
         if s_guess is None:
             s_guess = self.s_guess
-        line = self.raceline if use_raceline else self.centerline
-        # s, ey = line.spline.calc_arclength_inaccurate(x, y) # inaccurate, but much faster
-        s, ey = line.spline.calc_arclength(x, y, s_guess)
+        
+        if use_s_guess and s_guess is not None:
+            s_inds = line.spline.find_segment_for_s(s_guess)
+            extend_length = int(self.frenet_search_range / 2 / line.spline.s_interval)  # extend search range
+            s_inds = np.arange(s_inds - extend_length, s_inds + extend_length) % (len(line.spline.s)-1) # search around the guess
+        else:
+            s_inds = None
+        # print(max(line.spline.s[s_inds]), min(line.spline.s[s_inds]))
+        s, ey = line.spline.calc_arclength_inaccurate(x, y, s_inds) # inaccurate, but much faster
+        # s, ey = line.spline.calc_arclength(x, y, s_guess)
         # Wrap around
         s = s % line.spline.s[-1]
         self.s_guess = s
+        segment = line.spline.find_segment_for_s(s)
 
         # Use the normal to calculate the signed lateral deviation
-        yaw = line.spline.calc_yaw(s)
+        yaw = line.spline.calc_yaw(s, segment)
         normal = np.asarray([-np.sin(yaw), np.cos(yaw)])
-        x_eval, y_eval = line.spline.calc_position(s)
+        x_eval, y_eval = line.spline.calc_position(s, segment)
         dx = x - x_eval
         dy = y - y_eval
         distance_sign = np.sign(np.dot([dx, dy], normal))
         ey = ey * distance_sign
 
-        phi = phi - yaw
-        return s, ey, np.arctan2(np.sin(phi), np.cos(phi))
+        psi = psi - yaw
+        return s, ey, (psi + (2 * np.pi)) % (2 * np.pi)
diff --git a/f1tenth_gym/envs/track/utils.py b/f1tenth_gym/envs/track/utils.py
index 6c8a0bf4..9d80863f 100644
--- a/f1tenth_gym/envs/track/utils.py
+++ b/f1tenth_gym/envs/track/utils.py
@@ -99,8 +99,13 @@ def nearest_point_on_trajectory(point: np.ndarray, trajectory: np.ndarray) -> tu
         temp = point - projections[i]
         dists[i] = np.sqrt(np.sum(temp * temp))
     min_dist_segment = np.argmin(dists)
+    # return (
+    #     projections[min_dist_segment],
+    #     dists[min_dist_segment],
+    #     t[min_dist_segment],
+    #     min_dist_segment,
+    # )
     return (
-        projections[min_dist_segment],
         dists[min_dist_segment],
         t[min_dist_segment],
         min_dist_segment,
diff --git a/tests/test_observation.py b/tests/test_observation.py
index 2a161236..1872786f 100644
--- a/tests/test_observation.py
+++ b/tests/test_observation.py
@@ -160,7 +160,7 @@ def test_dynamic_obs_space(self):
         """
         Check the dynamic state observation space contains the correct features.
         """
-        env = self._make_env(config={"observation_config": {"type": "dynamic_state"}})
+        env = self._make_env(config={"observation_config": {"type": "original"}})
 
         kinematic_features = [
             "pose_x",
@@ -204,7 +204,7 @@ def test_dynamic_obs_space(self):
                 self.assertTrue(np.allclose(ground_truth, observed))
 
     def test_consistency_observe_space(self):
-        obs_type_ids = ["kinematic_state", "dynamic_state", "original"]
+        obs_type_ids = ["direct", "original"]
 
         env = self._make_env()
         env.reset()
@@ -222,7 +222,7 @@ def test_consistency_observe_space(self):
     def test_gymnasium_api(self):
         from gymnasium.utils.env_checker import check_env
 
-        obs_type_ids = ["kinematic_state", "dynamic_state", "original"]
+        obs_type_ids = ["direct", "original"]
 
         for obs_type_id in obs_type_ids:
             env = self._make_env(config={"observation_config": {"type": obs_type_id}})

From 40da4eea3badd5e06d517ccb437abf76216480bf Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Thu, 12 Jun 2025 05:17:44 -0400
Subject: [PATCH 19/54] implement s_based loop check

---
 examples/waypoint_follow.py            |  6 +-
 f1tenth_gym/envs/f110_env.py           | 95 +++++++++++---------------
 f1tenth_gym/envs/track/cubic_spline.py |  1 +
 3 files changed, 44 insertions(+), 58 deletions(-)

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 0102ff14..dd92c095 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -305,7 +305,7 @@ def main():
         "mass": 3.463388126201571,
         "lf": 0.15597534362552312,
         "tlad": 0.82461887897713965,
-        "vgain": 0.2,
+        "vgain": 0.5,
     }
 
     num_agents = 1
@@ -325,9 +325,10 @@ def main():
             "reset_config": {"type": "rl_random_static"},
             "map_scale": 1.0,
             "enable_rendering": 1,
-            "enable_scan": 1,
+            "enable_scan": 0,
             "lidar_num_beams": 270,
             "compute_frenet": 1,
+            "max_laps": 10,  # 'inf' for infinite laps, or a positive integer
         },
         render_mode="human_fast",
     )
@@ -371,6 +372,7 @@ def main():
         obs, step_reward, done, truncated, info = env.step(action)
         
         times.append(1/(time.time() - t1))
+        # print(info)
         if len(times) > 2000:
             print("FPS:", np.mean(times))
             times = []
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 3a35d447..8daa394c 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -41,6 +41,15 @@
 from .track import Track
 from .utils import deep_update
 
+# class WindingAngleLoopCounter:
+#     def __init__(self, track: Track):
+#         self.start_point_curvature = track.centerline.calc_curvature(0.0)
+#         self.winding_point = np.array(
+#             track.frenet_to_cartesian(
+#                 s=0.0, ey=np.sign(self.start_point_curvature) * 1.5, ephi=0.0
+#             )
+#         )[:2]
+
 class F110Env(gym.Env):
     """
     OpenAI gym environment for F1TENTH
@@ -112,20 +121,13 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         self.near_start = True
         self.num_toggles = 0
 
-        # race info
-        self.lap_times = np.zeros((self.num_agents,))
-        self.lap_counts = np.zeros((self.num_agents,))
-        self.sim_time = 0.0
-
         # finish line info
-        self.num_toggles = 0
-        self.near_start = True
-        self.near_starts = np.array([True] * self.num_agents)
-        self.toggle_list = np.zeros((self.num_agents,))
-        self.start_xs = np.zeros((self.num_agents,))
-        self.start_ys = np.zeros((self.num_agents,))
-        self.start_thetas = np.zeros((self.num_agents,))
-        self.start_rot = np.eye(2)
+        if self.config["loop_counting_method"] == "frenet_based":
+            self.agents_prev_s = np.array([None] * self.num_agents)
+            self.lap_times = np.zeros((self.num_agents, ))
+            self.lap_times_finish = np.zeros((self.num_agents, ))
+            self.lap_counts = np.zeros((self.num_agents, ))
+            self.sim_time = 0.0
         
         if isinstance(self.map, Track):
             self.track = self.map
@@ -208,6 +210,7 @@ def default_config(cls) -> dict:
             "timestep": 0.01,
             "integrator_timestep": 0.01,
             "ego_idx": 0,
+            "max_laps": 'inf',  # 'inf' for infinite laps, or a positive integer
             "integrator": "rk4",
             "model": "st", # "ks", "st", "mb"
             "control_input": ["speed", "steering_angle"],
@@ -220,9 +223,9 @@ def default_config(cls) -> dict:
             "lidar_range": 30.0,
             "lidar_noise_std": 0.01,
             "steer_delay_buffer_size": 1,
-            "compute_frenet": True, # NOTE: currently always true
+            "compute_frenet": True, 
             "collision_check_method": "bounding_box", # "lidar_scan", "bounding_box"
-            "loop_counting_method": "s_based", # "toggle", "s_based", "winding_angle"
+            "loop_counting_method": "frenet_based", # "toggle", "frenet_based", "winding_angle"
         }
 
     @classmethod
@@ -432,46 +435,24 @@ def configure(self, config: dict) -> None:
     def _check_done(self):
         """
         Check if the current rollout is done
-
-        Args:
-            None
-
-        Returns:
-            done (bool): whether the rollout is done
-            toggle_list (list[int]): each agent's toggle list for crossing the finish zone
         """
-
-        # this is assuming 2 agents
-        # TODO: switch to maybe s-based
-        left_t = 2
-        right_t = 2
-
-        poses_x = np.array(self.poses_x) - self.start_xs
-        poses_y = np.array(self.poses_y) - self.start_ys
-        delta_pt = np.dot(self.start_rot, np.stack((poses_x, poses_y), axis=0))
-        temp_y = delta_pt[1, :]
-        idx1 = temp_y > left_t
-        idx2 = temp_y < -right_t
-        temp_y[idx1] -= left_t
-        temp_y[idx2] = -right_t - temp_y[idx2]
-        temp_y[np.invert(np.logical_or(idx1, idx2))] = 0
-
-        dist2 = delta_pt[0, :] ** 2 + temp_y**2
-        closes = dist2 <= 0.1
-        for i in range(self.num_agents):
-            if closes[i] and not self.near_starts[i]:
-                self.near_starts[i] = True
-                self.toggle_list[i] += 1
-            elif not closes[i] and self.near_starts[i]:
-                self.near_starts[i] = False
-                self.toggle_list[i] += 1
-            self.lap_counts[i] = self.toggle_list[i] // 2
-            if self.toggle_list[i] < 4:
-                self.lap_times[i] = self.sim_time
-
-        done = (self.collisions[self.ego_idx]) or np.all(self.toggle_list >= 4)
-
-        return bool(done), self.toggle_list >= 4
+        if self.config['loop_counting_method'] == "frenet_based":
+            for ind, agent_id in enumerate(self.agent_ids):
+                if self.agents_prev_s[ind] is None:
+                    self.agents_prev_s[ind] = self.obs[agent_id]['frenet_pose'][0]
+                else:
+                    agent_curr_s = self.obs[agent_id]['frenet_pose'][0]
+                    if self.agents_prev_s[ind] - agent_curr_s > self.sim.track.centerline.spline.s_frame_max * 0.85 \
+                        and self.sim_time > self.timestep:
+                        self.lap_counts[ind] += 1
+                        self.lap_times[ind] = self.sim_time - self.lap_times_finish[ind]
+                        self.lap_times_finish[ind] = self.sim_time
+                    self.agents_prev_s[ind] = agent_curr_s
+                self.obs[agent_id]['lap_time'] = self.lap_times[ind]
+                self.obs[agent_id]['lap_count'] = [ind]
+                
+        done = (self.collisions[self.ego_idx]) or self.lap_counts >= float(self.config["max_laps"])
+        return bool(done)
 
     def _update_state(self):
         """
@@ -510,9 +491,11 @@ def step(self, action):
         self._update_state()
 
         # check done
-        done, toggle_list = self._check_done()
+        done = self._check_done()
         truncated = False
-        info = {"checkpoint_done": toggle_list}
+        info = {"lap_times": self.lap_times, 
+                "lap_counts": self.lap_counts,
+                "sim_time": self.sim_time}
 
         return self.obs, reward, done, truncated, info
 
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index 6e7852c5..dccaf59f 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -48,6 +48,7 @@ def __init__(self, x, y,
             self.points[-1] = self.points[0]
         self.s = ss if ss is not None else self.__calc_s(self.points[:, 0], self.points[:, 1])
         self.s_interval = (self.s[-1] - self.s[0]) / len(self.s)
+        self.s_frame_max = self.s[-1]
 
         # Use scipy CubicSpline to interpolate the points with periodic boundary conditions
         # This is necessary to ensure the path is continuous

From c2a9ef3dc7406c5dc273982967156eaa8070dd94 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Thu, 12 Jun 2025 05:19:01 -0400
Subject: [PATCH 20/54] frenet_based loop check

---
 README.md                    | 3 ++-
 f1tenth_gym/envs/f110_env.py | 9 ---------
 2 files changed, 2 insertions(+), 10 deletions(-)

diff --git a/README.md b/README.md
index 736305eb..d7cbc9aa 100644
--- a/README.md
+++ b/README.md
@@ -8,7 +8,8 @@ Zirui branch TODO list:
 - [x] scan toggle
 - [x] separate time step and integrater time step
 - [x] add frenet
-- [ ] use correct loop count
+- [x] use correct loop count frenet_based
+- [ ] also add winding_angle
 - [x] simplify std_state and observation
 - [x] add option "state" in reset
 - [x] control_buffer_size, lidar fov, lidar nums in config
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 8daa394c..b8f55ca4 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -41,15 +41,6 @@
 from .track import Track
 from .utils import deep_update
 
-# class WindingAngleLoopCounter:
-#     def __init__(self, track: Track):
-#         self.start_point_curvature = track.centerline.calc_curvature(0.0)
-#         self.winding_point = np.array(
-#             track.frenet_to_cartesian(
-#                 s=0.0, ey=np.sign(self.start_point_curvature) * 1.5, ephi=0.0
-#             )
-#         )[:2]
-
 class F110Env(gym.Env):
     """
     OpenAI gym environment for F1TENTH

From a32d68f0ab1a5f15168205760dbe6fb86baa260b Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Wed, 18 Jun 2025 01:57:20 -0400
Subject: [PATCH 21/54] 3d mesh rendering

---
 README.md                                     |     3 +-
 examples/waypoint_follow.py                   |     4 +-
 .../envs/rendering/example_mesh_cyber.obj     | 30239 ++++++++++++++++
 f1tenth_gym/envs/rendering/mesh_renderer.py   |   162 +
 f1tenth_gym/envs/rendering/renderer.py        |     2 +-
 f1tenth_gym/envs/rendering/rendering.yaml     |     1 +
 .../envs/rendering/rendering_pyqtgl.py        |    40 +-
 f1tenth_gym/envs/track/cubic_spline.py        |     1 +
 8 files changed, 30435 insertions(+), 17 deletions(-)
 create mode 100644 f1tenth_gym/envs/rendering/example_mesh_cyber.obj
 create mode 100644 f1tenth_gym/envs/rendering/mesh_renderer.py

diff --git a/README.md b/README.md
index d7cbc9aa..06e13087 100644
--- a/README.md
+++ b/README.md
@@ -8,13 +8,14 @@ Zirui branch TODO list:
 - [x] scan toggle
 - [x] separate time step and integrater time step
 - [x] add frenet
-- [x] use correct loop count frenet_based
+- [x] use correct loop count frenet_based, added max loop num
 - [ ] also add winding_angle
 - [x] simplify std_state and observation
 - [x] add option "state" in reset
 - [x] control_buffer_size, lidar fov, lidar nums in config
 - [ ] double check dynamics result
 - [x] implemented new rendering with pyqtgraph.opengl
+- [x] added 3d mesh renderering for proof of concept
 
 ## Quickstart
 We recommend installing the simulation inside a virtualenv. You can install the environment by running:
diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index dd92c095..9402769a 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -325,10 +325,10 @@ def main():
             "reset_config": {"type": "rl_random_static"},
             "map_scale": 1.0,
             "enable_rendering": 1,
-            "enable_scan": 0,
+            "enable_scan": 1,
             "lidar_num_beams": 270,
             "compute_frenet": 1,
-            "max_laps": 10,  # 'inf' for infinite laps, or a positive integer
+            "max_laps": 2,  # 'inf' for infinite laps, or a positive integer
         },
         render_mode="human_fast",
     )
diff --git a/f1tenth_gym/envs/rendering/example_mesh_cyber.obj b/f1tenth_gym/envs/rendering/example_mesh_cyber.obj
new file mode 100644
index 00000000..1597ff8d
--- /dev/null
+++ b/f1tenth_gym/envs/rendering/example_mesh_cyber.obj
@@ -0,0 +1,30239 @@
+# Blender v2.91.0 OBJ File: 'cybertruck (final).blend'
+# www.blender.org
+mtllib cybertruck (final).mtl
+o WGT-CarRig.DriftHandle
+v 0.560017 0.000000 -0.000000
+v 0.547273 0.000000 -0.051213
+v 0.517388 0.000000 -0.099737
+v 0.464317 0.000000 -0.143449
+v 0.395991 0.000000 -0.184290
+v 0.311128 0.000000 -0.216702
+v 0.214308 0.000000 -0.240786
+v 0.109253 0.000000 -0.255617
+v 0.555120 0.000000 -0.025475
+v 0.534870 0.000000 -0.076445
+v 0.491512 0.000000 -0.122266
+v 0.430814 0.000000 -0.164543
+v 0.353560 0.000000 -0.200496
+v 0.262718 0.000000 -0.228744
+v 0.161781 0.000000 -0.248202
+v 0.054627 0.000000 -0.258121
+v 0.468305 0.000000 -0.000000
+v 0.460162 0.000000 -0.032401
+v 0.433464 0.000000 -0.060593
+v 0.389381 0.000000 -0.085429
+v 0.331141 0.000000 -0.110313
+v 0.260176 0.000000 -0.131034
+v 0.179212 0.000000 -0.146527
+v 0.091361 0.000000 -0.156096
+v 0.464991 0.000000 -0.015659
+v 0.450432 0.000000 -0.047986
+v 0.411785 0.000000 -0.073472
+v 0.360261 0.000000 -0.097484
+v 0.295659 0.000000 -0.120367
+v 0.219694 0.000000 -0.138512
+v 0.135287 0.000000 -0.151063
+v 0.045681 0.000000 -0.157473
+v -0.560017 0.000000 -0.000000
+v -0.547273 0.000000 -0.051213
+v -0.517388 0.000000 -0.099737
+v -0.464970 0.000000 -0.143641
+v -0.395991 0.000000 -0.184290
+v -0.311128 0.000000 -0.216702
+v -0.214308 0.000000 -0.240786
+v -0.109253 0.000000 -0.255617
+v -0.555120 0.000000 -0.025475
+v -0.534870 0.000000 -0.076445
+v -0.491512 0.000000 -0.122266
+v -0.430814 0.000000 -0.164543
+v -0.353560 0.000000 -0.200496
+v -0.262718 0.000000 -0.228744
+v -0.161781 0.000000 -0.248202
+v -0.054627 0.000000 -0.258121
+v -0.468305 0.000000 -0.000000
+v -0.460162 0.000000 -0.032401
+v -0.433464 0.000000 -0.060593
+v -0.389381 0.000000 -0.085429
+v -0.331141 0.000000 -0.110313
+v -0.260176 0.000000 -0.131034
+v -0.179212 0.000000 -0.146527
+v -0.091361 0.000000 -0.156096
+v -0.464991 0.000000 -0.015659
+v -0.450432 0.000000 -0.047986
+v -0.411785 0.000000 -0.073472
+v -0.360261 0.000000 -0.097484
+v -0.295659 0.000000 -0.120367
+v -0.219694 0.000000 -0.138512
+v -0.135287 0.000000 -0.151063
+v -0.045681 0.000000 -0.157473
+v 0.000000 0.000000 -0.260625
+v 0.000000 0.000000 -0.159330
+l 9 1
+l 10 2
+l 11 3
+l 12 4
+l 13 5
+l 14 6
+l 15 7
+l 16 8
+l 2 9
+l 3 10
+l 4 11
+l 5 12
+l 6 13
+l 7 14
+l 8 15
+l 65 16
+l 25 17
+l 26 18
+l 27 19
+l 28 20
+l 29 21
+l 30 22
+l 31 23
+l 32 24
+l 18 25
+l 19 26
+l 20 27
+l 21 28
+l 22 29
+l 23 30
+l 24 31
+l 66 32
+l 1 17
+l 25 9
+l 2 18
+l 26 10
+l 41 33
+l 42 34
+l 43 35
+l 44 36
+l 45 37
+l 46 38
+l 47 39
+l 48 40
+l 34 41
+l 35 42
+l 36 43
+l 37 44
+l 38 45
+l 39 46
+l 40 47
+l 65 48
+l 57 49
+l 58 50
+l 59 51
+l 60 52
+l 61 53
+l 62 54
+l 63 55
+l 64 56
+l 50 57
+l 51 58
+l 52 59
+l 53 60
+l 54 61
+l 55 62
+l 56 63
+l 66 64
+l 33 49
+l 57 41
+l 34 50
+l 58 42
+o WGT-CarRig.Root
+v -0.500000 0.000000 0.884438
+v -0.384438 0.000000 1.000000
+v -0.491203 0.000000 0.928662
+v -0.466153 0.000000 0.966153
+v -0.428662 0.000000 0.991203
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diff --git a/f1tenth_gym/envs/rendering/mesh_renderer.py b/f1tenth_gym/envs/rendering/mesh_renderer.py
new file mode 100644
index 00000000..76bb8320
--- /dev/null
+++ b/f1tenth_gym/envs/rendering/mesh_renderer.py
@@ -0,0 +1,162 @@
+import sys
+import numpy as np
+from pathlib import Path
+from pyqtgraph.opengl import MeshData, GLMeshItem
+
+from .renderer import RenderSpec, EnvRenderer, ObjectRenderer
+
+class MeshRenderer(ObjectRenderer):
+    def __init__(self,
+        env_renderer: EnvRenderer,
+        render_spec: RenderSpec,
+        map_origin: tuple[float, float],
+        resolution: float,
+        car_length: float,
+        car_width: float,
+        color: list[int] | None = None,
+        wheel_size: float = 0.2
+        ):
+        super().__init__()
+        import trimesh
+        self.trimesh = trimesh
+        self.car_length = car_length
+        self.car_width = car_width
+        self.wheel_size = wheel_size
+        self.view = env_renderer.view
+        
+        self.load_obj()
+        self.mesh_dict = self.get_mesh_dict()
+        
+
+        self.origin = map_origin
+        self.resolution = resolution
+
+        self.color = color
+        self.pose = (0, 0, 0)
+        self.steering = 0
+
+        # Tire params need to be updated
+        self.tire_width = 0.1
+        self.tire_length = self.wheel_size
+        
+    
+    def load_obj(self):
+        # Load meshes (skip the ground plane)
+        scene = self.trimesh.load(OBJ_PATH, process=False)
+        self.parts = {n:m for n,m in scene.geometry.items() if n != "Plane.002"}
+
+        # Compute wheel center
+        centers = [self.parts[w].vertices.mean(axis=0) for w in WHEEL_NAMES]
+        self.wheel_center = np.stack(centers).mean(axis=0)
+        # print(self.wheel_center)
+        
+        all_vs = np.vstack([m.vertices for m in self.parts.values()])
+        self.center_xy = np.array([all_vs[:,0].mean(), all_vs[:,1].mean(), 0], dtype=np.float32)
+        
+        self.car_pose = {
+            "x": 0.0,      # position east
+            "y": 0.0,      # position north
+            "z": 0.0,      # height above ground plane
+            "roll": 0.0,   # rotation about vehicle X axis
+            "pitch": 0.0,  # rotation about vehicle Y axis
+            "yaw": 0.0    # rotation about vehicle Z axis
+        }
+        
+        # Build the 3D pose transform
+        R = euler_to_matrix(self.car_pose["roll"] + 90, self.car_pose["pitch"], self.car_pose["yaw"])
+        t = np.array([self.car_pose["x"], self.car_pose["y"], self.car_pose["z"]], dtype=np.float32)
+
+        # Find the lowest Z after rotating about wheel center
+        minz = np.inf
+        for mesh in self.parts.values():
+            V = mesh.vertices.astype(np.float32)
+            Vc = V - self.wheel_center
+            Vr = Vc @ R.T
+            minz = min(minz, Vr[:,2].min())
+        # Lift so wheels sit on Z=0, then add self.car_pose z
+        self.z_lift = -minz + self.car_pose["z"]
+        
+    def update(self, obs: dict[str, np.ndarray], id: str):        
+        state = obs[id]["std_state"].astype(float)
+        self.car_pose['x'] = state[0]
+        self.car_pose['y'] = state[1]
+        self.car_pose['yaw'] = state[4] / np.pi * 180
+        self.steering = state[2]   
+        
+    
+    def get_mesh_dict(self):
+        mesh_dict = {}
+        for name, mesh in self.parts.items():
+            V = mesh.vertices.astype(np.float32)
+            F = mesh.faces.astype(np.int32)
+            # center on wheels, rotate, then translate+lift
+            Vc = V - self.wheel_center
+            Vfinal = Vc + np.array([self.car_pose["x"], self.car_pose["y"], self.z_lift],dtype=np.float32)
+
+            md = MeshData(vertexes=Vfinal, faces=F)
+            item = GLMeshItem(meshdata=md, smooth=True,
+                            shader='shaded', drawFaces=True, drawEdges=False)
+            item.setColor(COLOR_MAP.get(name, DEFAULT_COLOR))
+            item.setGLOptions('opaque')
+            self.view.addItem(item)
+            mesh_dict[name] = item
+        return mesh_dict
+    
+    def render(self, scale=1.0):
+        # Render each part with the full pose
+        R = euler_to_matrix(self.car_pose["roll"] + 90, self.car_pose["pitch"], self.car_pose["yaw"])
+        t = np.array([self.car_pose["x"], self.car_pose["y"], self.car_pose["z"]], dtype=np.float32)
+        tx, ty = self.car_pose["x"], self.car_pose["y"]
+        for name, mesh in self.parts.items():
+            item = self.mesh_dict[name]
+            item.resetTransform()
+            # 2) center on wheels, apply rotation
+            #    and apply global translation & lift in one go
+            #    note translate is post-multiplied, so do them in reverse order:
+            item.translate(-self.wheel_center[0],
+                           -self.wheel_center[1],
+                           -self.wheel_center[2])
+            
+            item.rotate(self.car_pose["roll"]+90, 1, 0, 0)
+            item.rotate(self.car_pose["yaw"], 0, 0, 1)
+            item.rotate(self.car_pose["pitch"], 0, 1, 0)
+            
+            item.translate(tx, ty, self.z_lift)
+
+
+
+OBJ_PATH = Path(__file__).parent / "example_mesh_cyber.obj"
+# Exact object‐name → RGBA color
+COLOR_MAP = {
+    "WBL_b1.004_Cylinder.035": (0.35, 0.35, 0.35, 1.0), # wheels
+    "WBL_b1.003_Cylinder.034": (0.35, 0.35, 0.35, 1.0),
+    "WBL_b1.002_Cylinder.033": (0.35, 0.35, 0.35, 1.0),
+    "WBL_b1_Cylinder.020":     (0.35, 0.35, 0.35, 1.0),
+    "WBL_b1.004_Cylinder.035_1": (0.35, 0.35, 0.35, 1.0),
+    "bamper_l_Cube.001":       (1.0, 0.7, 0.2, 0.8), # turning light
+    "bamper_d_Cube.005":       (0.7, 0.7, 0.7, 1.0), # wheel arch
+    "body_Cube":               (1.0, 0.2, 0.2, 1.0), # tail light
+    "body_Cube_1":             (1.0, 0.75, 0.65, 1.0), # front light
+    "body_Cube_2":             (0.3, 0.3, 0.3, 0.3), # glass
+    "bamper_l_Cube.001_1":     (0.85, 0.85, 0.87, 1.0), # body
+    # add any others here...
+}
+DEFAULT_COLOR = (0.6, 0.6, 0.6, 1.0)
+
+# Names of the four wheels (for centering)
+WHEEL_NAMES = [
+    "WBL_b1.004_Cylinder.035",
+    "WBL_b1.003_Cylinder.034",
+    "WBL_b1.002_Cylinder.033",
+    "WBL_b1_Cylinder.020",
+]
+
+def euler_to_matrix(roll, pitch, yaw):
+    """Build rotation matrix from roll, pitch, yaw (degrees)."""
+    r, p, y = np.deg2rad([roll, pitch, yaw])
+    Rx = np.array([[1,0,0],[0,np.cos(r),-np.sin(r)],[0,np.sin(r),np.cos(r)]],dtype=np.float32)
+    Ry = np.array([[np.cos(p),0,np.sin(p)],[0,1,0],[-np.sin(p),0,np.cos(p)]],dtype=np.float32)
+    Rz = np.array([[np.cos(y),-np.sin(y),0],[np.sin(y),np.cos(y),0],[0,0,1]],dtype=np.float32)
+    return Rz @ Ry @ Rx  # apply roll, then pitch, then yaw
+
+
diff --git a/f1tenth_gym/envs/rendering/renderer.py b/f1tenth_gym/envs/rendering/renderer.py
index 7ac101f9..47520483 100644
--- a/f1tenth_gym/envs/rendering/renderer.py
+++ b/f1tenth_gym/envs/rendering/renderer.py
@@ -142,7 +142,7 @@ def __init__(self):
         Initialize the point renderer.
         This should set up the necessary parameters for rendering points.
         """
-        raise NotImplementedError()
+        pass
     
     @abstractmethod
     def update(self):
diff --git a/f1tenth_gym/envs/rendering/rendering.yaml b/f1tenth_gym/envs/rendering/rendering.yaml
index a5d4ed6d..361d1e7c 100644
--- a/f1tenth_gym/envs/rendering/rendering.yaml
+++ b/f1tenth_gym/envs/rendering/rendering.yaml
@@ -7,6 +7,7 @@ show_wheels: True     # [bool] it toggles the visualization of the vehicle wheel
 car_tickness: 1       # [px] thickness of the car
 show_info: True       # [bool] it toggles the visualization of the instruction text
 render_type: "pyqt6gl"  # [str] rendering type. Options: "pyqt6gl", "pyqt6" NOTE: pygame not supported until reimplemented
+car_model: "3d"  # [str] car model to use. Options: "2d", "3d"
 vehicle_palette:      # [list] cyclic list of colors for the vehicles
   - "#FD3754"
   - "#377eb8"
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 0ac19655..1e276cff 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -1,12 +1,14 @@
 import time, logging
+import numpy as np
 import pyqtgraph.opengl as gl
 from PyQt6 import QtWidgets, QtCore, QtGui
-import numpy as np
+from typing import Any, Optional
+from PIL import ImageColor
+
 from ..track import Track
 from .renderer import EnvRenderer, RenderSpec, ObjectRenderer
-from PIL import ImageColor
-from typing import Any, Callable, Optional
 from .pyqtgl_objects import PointsRenderer, LinesRenderer, ClosedLinesRenderer, CarRenderer
+from .mesh_renderer import MeshRenderer
 
 class PyQtEnvRendererGL(EnvRenderer):
     def __init__(
@@ -43,7 +45,8 @@ def __init__(
         self.window.setWindowTitle("F1Tenth Gym - OpenGL")
         self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
         
-        self._enable_pan_only()
+        if self.render_spec.car_model == "2d":
+            self._enable_pan_only()
         self._init_map(track)
         
         # FPS label
@@ -183,8 +186,19 @@ def update(self, obs: dict) -> None:
             obs: simulation obs as dictionary
         """
         if self.cars is None:
-            self.cars = [
-                CarRenderer(
+            if self.render_spec.car_model == "3d":
+                self.cars = [MeshRenderer(
+                    env_renderer=self,
+                    car_length=self.params["length"],
+                    car_width=self.params["width"],
+                    color=self.car_colors[ic],
+                    render_spec=self.render_spec,
+                    map_origin=self.map_origin[:2],
+                    resolution=self.map_resolution,
+                ) for ic in range(len(self.agent_ids))
+                ]
+            elif self.render_spec.car_model == "2d":
+                [CarRenderer(
                     env_renderer=self,
                     car_length=self.params["length"],
                     car_width=self.params["width"],
@@ -192,9 +206,8 @@ def update(self, obs: dict) -> None:
                     render_spec=self.render_spec,
                     map_origin=self.map_origin[:2],
                     resolution=self.map_resolution,
-                )
-                for ic in range(len(self.agent_ids))
-            ]
+                ) for ic in range(len(self.agent_ids))
+                ]
 
         # update cars obs and zoom level (updating points-per-unit)
         for i, id in enumerate(self.agent_ids):
@@ -210,7 +223,7 @@ def render(self):
             # call callbacks
             for callback_fn in self.callbacks:
                 callback_fn(self)
-            if self.agent_to_follow is not None:
+            if self.agent_to_follow is not None and self.render_spec.car_model == "2d":
                 self._center_camera_on_car(self.agent_to_follow)
             # draw cars
             for i in range(len(self.agent_ids)):
@@ -220,9 +233,10 @@ def render(self):
             
             if self.render_mode in ["human", "human_fast"]:
                 self._update_fps()
-                # elapsed = time.time() - start_time
-                # sleep_time = max(0.0, 1/self.render_fps - elapsed)
-                # time.sleep(sleep_time)
+                if self.render_fps < 1500:
+                    elapsed = time.time() - start_time
+                    sleep_time = max(0.0, 1/self.render_fps - elapsed)
+                    time.sleep(sleep_time)
         
     def add_renderer_callback(self, callback_fn):
         """
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index dccaf59f..59e94c74 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -47,6 +47,7 @@ def __init__(self, x, y,
         else:
             self.points[-1] = self.points[0]
         self.s = ss if ss is not None else self.__calc_s(self.points[:, 0], self.points[:, 1])
+        self.ss, self.psis, self.ks = self.s, psis, ks
         self.s_interval = (self.s[-1] - self.s[0]) / len(self.s)
         self.s_frame_max = self.s[-1]
 

From ebc5b0c87dd9a34cbe8b6fe89e8a191b1e63fd13 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Wed, 18 Jun 2025 02:47:06 -0400
Subject: [PATCH 22/54] bug fix and optimize

---
 examples/waypoint_follow.py                   | 10 +++++-----
 f1tenth_gym/envs/f110_env.py                  |  6 +++++-
 f1tenth_gym/envs/rendering/__init__.py        |  2 +-
 f1tenth_gym/envs/rendering/mesh_renderer.py   |  1 -
 f1tenth_gym/envs/rendering/pyqtgl_objects.py  | 19 +++++++++++++------
 f1tenth_gym/envs/rendering/rendering.yaml     |  2 +-
 f1tenth_gym/envs/rendering/rendering_pyqt.py  |  8 ++++----
 .../envs/rendering/rendering_pyqtgl.py        |  8 ++++----
 8 files changed, 33 insertions(+), 23 deletions(-)

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 9402769a..08353e34 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -208,7 +208,7 @@ def render_lookahead_point(self, e):
             points = self.lookahead_point[:2][None]  # shape (1, 2)~
             if self.lookahead_point_render is None:
                 self.lookahead_point_render = e.get_points_renderer(
-                    points, color=(200, 0, 0), size=5
+                    points, color=(200, 0, 0), size=10
                 )
             else:
                 self.lookahead_point_render.update(points)
@@ -221,7 +221,7 @@ def render_local_plan(self, e):
             points = self.waypoints[self.current_index : self.current_index + 10, :2]
             if self.local_plan_render is None:
                 self.local_plan_render = e.get_lines_renderer(
-                    points, color=(0, 128, 0), size=1
+                    points, color=(0, 128, 0), size=5
                 )
             else:
                 self.local_plan_render.update(points)
@@ -325,12 +325,12 @@ def main():
             "reset_config": {"type": "rl_random_static"},
             "map_scale": 1.0,
             "enable_rendering": 1,
-            "enable_scan": 1,
+            "enable_scan": 0,
             "lidar_num_beams": 270,
-            "compute_frenet": 1,
+            "compute_frenet": 0,
             "max_laps": 2,  # 'inf' for infinite laps, or a positive integer
         },
-        render_mode="human_fast",
+        render_mode="unlimited",
     )
     track = env.unwrapped.track
 
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index b8f55ca4..2d39965f 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -80,7 +80,7 @@ class F110Env(gym.Env):
     """
 
     # NOTE: change matadata with default rendering-modes, add definition of render_fps
-    metadata = {"render_modes": ["human", "human_fast", "rgb_array"], "render_fps": 100}
+    metadata = {"render_modes": ["human", "human_fast", "rgb_array", "unlimited"], "render_fps": 100}
 
     def __init__(self, config: dict = None, render_mode=None, **kwargs):
         super().__init__()
@@ -88,6 +88,8 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         # Configuration
         self.config = self.default_config()
         self.configure(config)
+        if self.config['loop_counting_method'] == "frenet_based":
+            self.config["compute_frenet"] = True # NOTE always compute frenet pose for lap counting
 
         self.seed = self.config["seed"]
         self.map = self.config["map"]
@@ -170,6 +172,8 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         self.metadata["render_fps"] = int(1.0 / self.timestep)
         if self.render_mode == "human_fast":
             self.metadata["render_fps"] *= 10  # boost fps by 10x
+        elif self.render_mode == "unlimited":
+            self.metadata["render_fps"] = float('inf')
         if self.config["enable_rendering"]:
             self.renderer, self.render_spec = make_renderer(
                 params=self.params,
diff --git a/f1tenth_gym/envs/rendering/__init__.py b/f1tenth_gym/envs/rendering/__init__.py
index dee8db9c..c1b95d63 100644
--- a/f1tenth_gym/envs/rendering/__init__.py
+++ b/f1tenth_gym/envs/rendering/__init__.py
@@ -47,7 +47,7 @@ def make_renderer(
     else:
         raise ValueError(f"Unknown render type: {render_spec.render_type}")
 
-    if render_mode in ["human", "rgb_array", "human_fast"]:
+    if render_mode in ["human", "rgb_array", 'unlimited', "human_fast"]:
         renderer = EnvRenderer(
             params=params,
             track=track,
diff --git a/f1tenth_gym/envs/rendering/mesh_renderer.py b/f1tenth_gym/envs/rendering/mesh_renderer.py
index 76bb8320..7c93d1ad 100644
--- a/f1tenth_gym/envs/rendering/mesh_renderer.py
+++ b/f1tenth_gym/envs/rendering/mesh_renderer.py
@@ -120,7 +120,6 @@ def render(self, scale=1.0):
             item.rotate(self.car_pose["roll"]+90, 1, 0, 0)
             item.rotate(self.car_pose["yaw"], 0, 0, 1)
             item.rotate(self.car_pose["pitch"], 0, 1, 0)
-            
             item.translate(tx, ty, self.z_lift)
 
 
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index 8c1eb9ee..ba4af501 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -28,6 +28,7 @@ def __init__(
         self.show_wheels = render_spec.show_wheels
         self.rgba = [c / 255 for c in color] + [1.0]
         self.rgba = np.array([self.rgba] * 2)
+        self.scale = 1.0
         
         # Define centered rectangle in local coords
         hl = self.car_length / 2 # half-length
@@ -86,12 +87,18 @@ def update(self, obs: dict[str, np.ndarray], id: str):
         
     def render(self, scale=1.0):
         # pass
-        transformed = self.apply_pose(self.pose, scale)
-        self.mesh.setMeshData(vertexes=transformed, 
-                              faces=self.faces,
-                              faceColors=self.rgba,
-                              smooth=False,
-                              drawEdges=False,)
+        if scale != 1.0:
+            transformed = self.apply_pose(self.pose, scale)
+            self.mesh.resetTransform()
+            self.mesh.setMeshData(vertexes=transformed, 
+                                faces=self.faces,
+                                faceColors=self.rgba,
+                                smooth=False,
+                                drawEdges=False,)
+        else:
+            self.mesh.resetTransform()
+            self.mesh.rotate(self.pose[2] / np.pi * 180, 0, 0, 1)
+            self.mesh.translate(self.pose[0], self.pose[1], 0.01)
 
 class LinesRenderer(ObjectRenderer):
     def __init__(
diff --git a/f1tenth_gym/envs/rendering/rendering.yaml b/f1tenth_gym/envs/rendering/rendering.yaml
index 361d1e7c..3d26c984 100644
--- a/f1tenth_gym/envs/rendering/rendering.yaml
+++ b/f1tenth_gym/envs/rendering/rendering.yaml
@@ -7,7 +7,7 @@ show_wheels: True     # [bool] it toggles the visualization of the vehicle wheel
 car_tickness: 1       # [px] thickness of the car
 show_info: True       # [bool] it toggles the visualization of the instruction text
 render_type: "pyqt6gl"  # [str] rendering type. Options: "pyqt6gl", "pyqt6" NOTE: pygame not supported until reimplemented
-car_model: "3d"  # [str] car model to use. Options: "2d", "3d"
+car_model: "2d"  # [str] car model to use. Options: "2d", "3d"
 vehicle_palette:      # [list] cyclic list of colors for the vehicles
   - "#FD3754"
   - "#377eb8"
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqt.py b/f1tenth_gym/envs/rendering/rendering_pyqt.py
index 14b08904..27bd5535 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqt.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqt.py
@@ -73,7 +73,7 @@ def __init__(
         render_spec : RenderSpec
             rendering specification
         render_mode : str
-            rendering mode in ["human", "human_fast", "rgb_array"]
+            rendering mode in ["human", "human_fast", 'unlimited', "rgb_array"]
         render_fps : int
             number of frames per second
         """
@@ -128,7 +128,7 @@ def __init__(
         )
         self.top_info_renderer = TextRenderer(parent=self.canvas, position="top_center")
 
-        if self.render_mode in ["human", "human_fast"]:
+        if self.render_mode in ["human", "human_fast", 'unlimited']:
             self.clock.sigFpsUpdate.connect(
                 lambda fps: self.fps_renderer.render(f"FPS: {fps:.1f}")
             )
@@ -181,7 +181,7 @@ def __init__(
             self.follow_agent_flag: bool = False
             self.agent_to_follow: int = None
 
-        if self.render_mode in ["human", "human_fast"]:
+        if self.render_mode in ["human", "human_fast", 'unlimited']:
             signal.signal(signal.SIGINT, signal.SIG_DFL)
             self.window.show()
         elif self.render_mode == "rgb_array":
@@ -321,7 +321,7 @@ def render(self) -> Optional[np.ndarray]:
             self.clock.update()
             self.app.processEvents()
 
-            if self.render_mode in ["human", "human_fast"]:
+            if self.render_mode in ["human", "human_fast", 'unlimited']:
                 assert self.window is not None
 
             else:  
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 1e276cff..7b49fa72 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -50,7 +50,7 @@ def __init__(
         self._init_map(track)
         
         # FPS label
-        if self.render_mode in ["human", "human_fast"]:
+        if self.render_mode in ["human", "human_fast", 'unlimited']:
             text_rgb = (140, 140, 140)
             self.fps_label = QtWidgets.QLabel(self.window)
             font = QtGui.QFont("Arial", 14)
@@ -198,7 +198,7 @@ def update(self, obs: dict) -> None:
                 ) for ic in range(len(self.agent_ids))
                 ]
             elif self.render_spec.car_model == "2d":
-                [CarRenderer(
+                self.cars = [CarRenderer(
                     env_renderer=self,
                     car_length=self.params["length"],
                     car_width=self.params["width"],
@@ -231,9 +231,9 @@ def render(self):
             
             self.app.processEvents()
             
-            if self.render_mode in ["human", "human_fast"]:
+            if self.render_mode in ["human", "human_fast", 'unlimited']:
                 self._update_fps()
-                if self.render_fps < 1500:
+                if self.render_fps < float('inf'):
                     elapsed = time.time() - start_time
                     sleep_time = max(0.0, 1/self.render_fps - elapsed)
                     time.sleep(sleep_time)

From a1415f90e55af59211995f378bfc60ee0e544b20 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Wed, 18 Jun 2025 03:12:33 -0400
Subject: [PATCH 23/54] restore observations, bug fix

---
 README.md                                     |   1 +
 f1tenth_gym/envs/f110_env.py                  |  23 +--
 f1tenth_gym/envs/observation.py               | 134 +++++++++++++++++-
 f1tenth_gym/envs/rendering/pyqtgl_objects.py  |   3 +-
 .../envs/rendering/rendering_pyqtgl.py        |   5 +-
 5 files changed, 154 insertions(+), 12 deletions(-)

diff --git a/README.md b/README.md
index 06e13087..ac9f7396 100644
--- a/README.md
+++ b/README.md
@@ -16,6 +16,7 @@ Zirui branch TODO list:
 - [ ] double check dynamics result
 - [x] implemented new rendering with pyqtgraph.opengl
 - [x] added 3d mesh renderering for proof of concept
+- [ ] merge lidar scan fix
 
 ## Quickstart
 We recommend installing the simulation inside a virtualenv. You can install the environment by running:
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 2d39965f..727532e7 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -152,6 +152,8 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         ), "observation_config must contain 'type' key"
         self.observation_type = observation_factory(env=self, **self.observation_config)
         self.observation_space = self.observation_type.space()
+        self.render_obs_type = observation_factory(env=self, type='direct')
+        self.render_obs = None
 
         # action space
         self.action_space = from_single_to_multi_action_space(
@@ -165,7 +167,6 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
 
         # stateful observations for rendering
         # add choice of colors (same, random, ...)
-        self.obs = None
         self.render_mode = render_mode
 
         # match render_fps to integration timestep
@@ -434,17 +435,17 @@ def _check_done(self):
         if self.config['loop_counting_method'] == "frenet_based":
             for ind, agent_id in enumerate(self.agent_ids):
                 if self.agents_prev_s[ind] is None:
-                    self.agents_prev_s[ind] = self.obs[agent_id]['frenet_pose'][0]
+                    self.agents_prev_s[ind] = self.render_obs[agent_id]['frenet_pose'][0]
                 else:
-                    agent_curr_s = self.obs[agent_id]['frenet_pose'][0]
+                    agent_curr_s = self.render_obs[agent_id]['frenet_pose'][0]
                     if self.agents_prev_s[ind] - agent_curr_s > self.sim.track.centerline.spline.s_frame_max * 0.85 \
                         and self.sim_time > self.timestep:
                         self.lap_counts[ind] += 1
                         self.lap_times[ind] = self.sim_time - self.lap_times_finish[ind]
                         self.lap_times_finish[ind] = self.sim_time
                     self.agents_prev_s[ind] = agent_curr_s
-                self.obs[agent_id]['lap_time'] = self.lap_times[ind]
-                self.obs[agent_id]['lap_count'] = [ind]
+                self.render_obs[agent_id]['lap_time'] = self.lap_times[ind]
+                self.render_obs[agent_id]['lap_count'] = [ind]
                 
         done = (self.collisions[self.ego_idx]) or self.lap_counts >= float(self.config["max_laps"])
         return bool(done)
@@ -476,7 +477,13 @@ def step(self, action):
         self.sim.step(action)
 
         # observation
-        self.obs = self.observation_type.observe()
+        obs = self.observation_type.observe()
+        if self.observation_config["type"] == "direct":
+            # for direct observation, also update the render_obs
+            self.render_obs = obs
+        else:
+            # for other observation types, update the render_obs
+            self.render_obs = self.render_obs_type.observe()
 
         # times
         reward = self.timestep
@@ -492,7 +499,7 @@ def step(self, action):
                 "lap_counts": self.lap_counts,
                 "sim_time": self.sim_time}
 
-        return self.obs, reward, done, truncated, info
+        return obs, reward, done, truncated, info
 
     def reset(self, seed=None, options=None):
         """
@@ -624,7 +631,7 @@ def render(self, mode="human"):
         if self.render_mode not in self.metadata["render_modes"] or not self.config["enable_rendering"]:
             return
 
-        self.renderer.update(obs=self.obs)
+        self.renderer.update(obs=self.render_obs)
         return self.renderer.render()
 
     def close(self):
diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index c43ef64d..b7e99c95 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -228,13 +228,145 @@ def observe(self):
 
         return observations
 
+class FeaturesObservation(Observation):
+    def __init__(self, env, features: List[str]):
+        super().__init__(env)
+        self.features = features
+
+    def space(self):
+        scan_size = self.env.unwrapped.sim.agents[0].scan_simulator.num_beams
+        scan_range = self.env.unwrapped.sim.agents[0].scan_simulator.max_range
+        large_num = 1e30  # large number to avoid unbounded obs space (ie., low=-inf or high=inf)
+
+        complete_space = {}
+        for agent_id in self.env.unwrapped.agent_ids:
+            agent_dict = {
+                "scan": gym.spaces.Box(
+                    low=0.0, high=scan_range, shape=(scan_size,), dtype=np.float32
+                ),
+                "pose_x": gym.spaces.Box(
+                    low=-large_num, high=large_num, shape=(), dtype=np.float32
+                ),
+                "pose_y": gym.spaces.Box(
+                    low=-large_num, high=large_num, shape=(), dtype=np.float32
+                ),
+                "pose_theta": gym.spaces.Box(
+                    low=-large_num, high=large_num, shape=(), dtype=np.float32
+                ),
+                "linear_vel_x": gym.spaces.Box(
+                    low=-large_num, high=large_num, shape=(), dtype=np.float32
+                ),
+                "linear_vel_y": gym.spaces.Box(
+                    low=-large_num, high=large_num, shape=(), dtype=np.float32
+                ),
+                "ang_vel_z": gym.spaces.Box(
+                    low=-large_num, high=large_num, shape=(), dtype=np.float32
+                ),
+                "delta": gym.spaces.Box(
+                    low=-large_num, high=large_num, shape=(), dtype=np.float32
+                ),
+                "beta": gym.spaces.Box(
+                    low=-large_num, high=large_num, shape=(), dtype=np.float32
+                ),
+                "collision": gym.spaces.Box(
+                    low=0.0, high=1.0, shape=(), dtype=np.float32
+                ),
+                "lap_time": gym.spaces.Box(
+                    low=0.0, high=large_num, shape=(), dtype=np.float32
+                ),
+                "lap_count": gym.spaces.Box(
+                    low=0.0, high=large_num, shape=(), dtype=np.float32
+                ),
+            }
+            complete_space[agent_id] = gym.spaces.Dict(
+                {k: agent_dict[k] for k in self.features}
+            )
+
+        obs_space = gym.spaces.Dict(complete_space)
+        return obs_space
+
+    def observe(self):
+        obs = {}  # dictionary agent_id -> observation dict
+
+        for i, agent_id in enumerate(self.env.unwrapped.agent_ids):
+            scan = self.env.unwrapped.sim.agent_scans[i]
+            agent = self.env.unwrapped.sim.agents[i]
+            lap_time = self.env.unwrapped.lap_times[i]
+            lap_count = self.env.unwrapped.lap_counts[i]
+
+            std_state = agent.standard_state
+
+            x, y, theta = std_state["x"], std_state["y"], std_state["yaw"]
+            delta = std_state["delta"]
+            beta = std_state["slip"]
+            vx = std_state["v_x"]
+            vy = std_state["v_y"]
+            angvel = std_state["yaw_rate"]
+
+            # create agent's observation dict
+            agent_obs = {
+                "scan": scan,
+                "pose_x": x,
+                "pose_y": y,
+                "pose_theta": theta,
+                "linear_vel_x": vx,
+                "linear_vel_y": vy,
+                "ang_vel_z": angvel,
+                "delta": delta,
+                "beta": beta,
+                "collision": int(agent.in_collision),
+                "lap_time": lap_time,
+                "lap_count": lap_count,
+            }
+
+            # add agent's observation to multi-agent observation
+            obs[agent_id] = {k: agent_obs[k] for k in self.features}
+
+            # cast to match observation space
+            for key in obs[agent_id].keys():
+                if isinstance(obs[agent_id][key], np.ndarray) or isinstance(
+                    obs[agent_id][key], list) or isinstance(
+                    obs[agent_id][key], float
+                ):
+                    obs[agent_id][key] = np.array(obs[agent_id][key], dtype=np.float32)
+
+        return obs
+
 
-def observation_factory(env, type: str | None) -> Observation:
+def observation_factory(env, type: str | None, **kwargs) -> Observation:
     type = type or "original"
 
     if type == "original":
         return OriginalObservation(env)
     elif type == "direct":
         return DirectObservation(env)
+    elif type == "features":
+        return FeaturesObservation(env, **kwargs)
+    elif type == "kinematic_state":
+        features = ["pose_x", "pose_y", "delta", "linear_vel_x", "pose_theta"]
+        return FeaturesObservation(env, features=features)
+    elif type == "dynamic_state":
+        features = [
+            "pose_x",
+            "pose_y",
+            "delta",
+            "linear_vel_x",
+            "pose_theta",
+            "ang_vel_z",
+            "beta",
+        ]
+        return FeaturesObservation(env, features=features)
+    elif type == "frenet_dynamic_state":
+        features = [
+            "pose_x",
+            "pose_y",
+            "delta",
+            "linear_vel_x",
+            "linear_vel_y",
+            "pose_theta",
+            "ang_vel_z",
+            "beta",
+        ]
+        return FeaturesObservation(env, features=features)
     else:
         raise ValueError(f"Invalid observation type {type}.")
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index ba4af501..c3db0620 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -87,7 +87,7 @@ def update(self, obs: dict[str, np.ndarray], id: str):
         
     def render(self, scale=1.0):
         # pass
-        if scale != 1.0:
+        if scale != 1.0 or self.scale != scale:
             transformed = self.apply_pose(self.pose, scale)
             self.mesh.resetTransform()
             self.mesh.setMeshData(vertexes=transformed, 
@@ -95,6 +95,7 @@ def render(self, scale=1.0):
                                 faceColors=self.rgba,
                                 smooth=False,
                                 drawEdges=False,)
+            self.scale = scale
         else:
             self.mesh.resetTransform()
             self.mesh.rotate(self.pose[2] / np.pi * 180, 0, 0, 1)
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 7b49fa72..594350c8 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -32,13 +32,14 @@ def __init__(
         else:
             self.agent_to_follow = None
         self.car_scale = 1.0
+        self.default_camera_dist = self.params['width'] * 70
         
         fmt = QtGui.QSurfaceFormat()
         fmt.setSwapInterval(0)  # 0 = no vsync, 1 = vsync
         QtGui.QSurfaceFormat.setDefaultFormat(fmt)
         self.app = QtWidgets.QApplication.instance() or QtWidgets.QApplication([])
         self.view = gl.GLViewWidget()
-        self.view.setCameraPosition(pos=QtGui.QVector3D(0, 0, 0), distance=20, elevation=90, azimuth=0)
+        self.view.setCameraPosition(pos=QtGui.QVector3D(0, 0, 0), distance=self.default_camera_dist, elevation=90, azimuth=0)
         self.view.setBackgroundColor((25, 25, 25))
         self.window = QtWidgets.QMainWindow()
         self.window.setCentralWidget(self.view)
@@ -128,7 +129,7 @@ def _center_camera_on_car(self, car_idx=0, distance_reset=False):
         self.car_scale = 1.0
         if distance_reset:
             self.view.setCameraPosition(
-                distance=self.params['width'] * 50,  # zoom level
+                distance=self.default_camera_dist,  # zoom level
             )
         self.view.setCameraPosition(
             pos=QtGui.QVector3D(x, y, 1),             # camera position

From 144637ddd69d90053867b2fefdf5715cbe452d7d Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Fri, 20 Jun 2025 03:16:29 -0400
Subject: [PATCH 24/54] add lap count, bug fix

---
 examples/waypoint_follow.py                   |  9 ++++---
 f1tenth_gym/envs/f110_env.py                  | 27 +++++++++----------
 f1tenth_gym/envs/observation.py               |  3 +--
 f1tenth_gym/envs/rendering/pyqtgl_objects.py  | 10 ++++---
 .../envs/rendering/rendering_pyqtgl.py        | 17 ++++++++++++
 5 files changed, 42 insertions(+), 24 deletions(-)

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 08353e34..78c0c7e8 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -308,7 +308,7 @@ def main():
         "vgain": 0.5,
     }
 
-    num_agents = 1
+    num_agents = 2
     env = gym.make(
         "f1tenth_gym:f1tenth-v0",
         config={
@@ -348,7 +348,10 @@ def main():
     for r in planner.get_render_callbacks():
         env.unwrapped.add_render_callback(r)
 
-    obs, info = env.reset()
+    frenet_start = np.array(env.unwrapped.track.frenet_to_cartesian(0, 0, 0))
+    frenet_start2 = np.array(env.unwrapped.track.frenet_to_cartesian(10, 0, 0))
+    init_poses = np.array([frenet_start, frenet_start2])
+    obs, info = env.reset(options={'poses':init_poses})
     done = False
     env.render()
 
@@ -367,7 +370,6 @@ def main():
                 work["vgain"],
             )
             action[i] = np.array([steer, speed])
-            # print("frenet_pose", obs[agent_id]["frenet_pose"])
         t1 = time.time()
         obs, step_reward, done, truncated, info = env.step(action)
         
@@ -381,7 +383,6 @@ def main():
 
     print("Sim elapsed time:", laptime, "Real elapsed time:", time.time() - start)
 
-
 if __name__ == "__main__":
     main()
 # %%
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 727532e7..c73bd5a3 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -433,22 +433,20 @@ def _check_done(self):
         Check if the current rollout is done
         """
         if self.config['loop_counting_method'] == "frenet_based":
+            # print(self.agents_prev_s)
             for ind, agent_id in enumerate(self.agent_ids):
                 if self.agents_prev_s[ind] is None:
-                    self.agents_prev_s[ind] = self.render_obs[agent_id]['frenet_pose'][0]
+                    self.agents_prev_s[ind] = self.sim.agents[ind].frenet_pose[0]
                 else:
-                    agent_curr_s = self.render_obs[agent_id]['frenet_pose'][0]
+                    agent_curr_s = self.sim.agents[ind].frenet_pose[0]
                     if self.agents_prev_s[ind] - agent_curr_s > self.sim.track.centerline.spline.s_frame_max * 0.85 \
                         and self.sim_time > self.timestep:
                         self.lap_counts[ind] += 1
                         self.lap_times[ind] = self.sim_time - self.lap_times_finish[ind]
                         self.lap_times_finish[ind] = self.sim_time
                     self.agents_prev_s[ind] = agent_curr_s
-                self.render_obs[agent_id]['lap_time'] = self.lap_times[ind]
-                self.render_obs[agent_id]['lap_count'] = [ind]
-                
-        done = (self.collisions[self.ego_idx]) or self.lap_counts >= float(self.config["max_laps"])
-        return bool(done)
+        done = (self.collisions[self.ego_idx]) or self.lap_counts[self.ego_idx] >= float(self.config["max_laps"])
+        return bool(np.any(done))
 
     def _update_state(self):
         """
@@ -475,6 +473,12 @@ def step(self, action):
 
         # call simulation step
         self.sim.step(action)
+        
+        # update data member
+        self._update_state()
+
+        # check done
+        done = self._check_done()
 
         # observation
         obs = self.observation_type.observe()
@@ -489,11 +493,6 @@ def step(self, action):
         reward = self.timestep
         self.sim_time = self.sim_time + self.timestep
 
-        # update data member
-        self._update_state()
-
-        # check done
-        done = self._check_done()
         truncated = False
         info = {"lap_times": self.lap_times, 
                 "lap_counts": self.lap_counts,
@@ -531,8 +530,8 @@ def reset(self, seed=None, options=None):
         if options is not None and "poses" in options:
             poses = options["poses"]
             option = "pose"
-        elif options is not None and "state" in options:
-            poses = options["state"]
+        elif options is not None and "states" in options:
+            poses = options["states"]
             option = "state"
         else:
             poses = self.reset_fn.sample()
diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index b7e99c95..837c7491 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -90,8 +90,7 @@ def observe(self):
                 "sim_time": self.env.unwrapped.sim_time,
             }
             if self.env.unwrapped.config["compute_frenet"]:
-                agent_obs["frenet_pose"] = agent.frenet_pose if hasattr(agent, 'frenet_pose') else np.zeros(3, dtype=np.float32)
-
+                agent_obs["frenet_pose"] = agent.frenet_pose if hasattr(agent, 'frenet_pose') else np.zeros(3)
             # add agent's observation to multi-agent observation
             obs[agent_id] = agent_obs
             
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index c3db0620..73c928dd 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -1,5 +1,6 @@
 from __future__ import annotations
 import numpy as np
+import time
 import pyqtgraph.opengl as gl
 
 from .renderer import RenderSpec, EnvRenderer, ObjectRenderer
@@ -86,15 +87,16 @@ def update(self, obs: dict[str, np.ndarray], id: str):
         self.steering = state[2]
         
     def render(self, scale=1.0):
-        # pass
-        if scale != 1.0 or self.scale != scale:
-            transformed = self.apply_pose(self.pose, scale)
+        if self.scale != scale:
+            # transformed = self.apply_pose(self.pose, 1.0)
             self.mesh.resetTransform()
-            self.mesh.setMeshData(vertexes=transformed, 
+            self.mesh.setMeshData(vertexes=self.base_rect * scale, 
                                 faces=self.faces,
                                 faceColors=self.rgba,
                                 smooth=False,
                                 drawEdges=False,)
+            self.mesh.rotate(self.pose[2] / np.pi * 180, 0, 0, 1)
+            self.mesh.translate(self.pose[0], self.pose[1], 0.01)
             self.scale = scale
         else:
             self.mesh.resetTransform()
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 594350c8..9e965ba4 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -33,6 +33,7 @@ def __init__(
             self.agent_to_follow = None
         self.car_scale = 1.0
         self.default_camera_dist = self.params['width'] * 70
+        self.obs = None
         
         fmt = QtGui.QSurfaceFormat()
         fmt.setSwapInterval(0)  # 0 = no vsync, 1 = vsync
@@ -63,6 +64,17 @@ def __init__(
             self.fps_label.resize(100, 20)
             self.fps_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
             self.fps_label.show()
+            
+            self.lap_label = QtWidgets.QLabel(self.window)
+            font = QtGui.QFont("Arial", 14)
+            self.lap_label.setFont(font)
+            self.lap_label.setStyleSheet(
+                f"color: rgb({text_rgb[0]}, {text_rgb[1]}, {text_rgb[2]}); background-color: transparent; padding: 2px;"
+            )
+            self.lap_label.move(int(self.render_spec.window_size) - 220, 10)
+            self.lap_label.resize(220, 30)
+            self.lap_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
+            self.lap_label.show()
 
         # Frame timer
         self.last_time = time.time()
@@ -216,9 +228,14 @@ def update(self, obs: dict) -> None:
 
         # update time
         self.sim_time = obs[self.agent_ids[0]]["sim_time"]
+        self.obs = obs
+        
 
     def render(self):
         if self.draw_flag:
+            if self.obs is not None:
+                self.lap_label.setText(f"Lap Time {self.obs[self.agent_ids[0]]['lap_time']:.2f}, " + 
+                    f"Lap {int(self.obs[self.agent_ids[0]]['lap_count']):d}")
             start_time = time.time()
             
             # call callbacks

From 40bff0c19a0bca4dddc940b8d19211a89d26e50b Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Tue, 24 Jun 2025 01:31:04 -0400
Subject: [PATCH 25/54] allow pass in map path

---
 examples/waypoint_follow.py     | 26 ++++++++++++--------------
 f1tenth_gym/envs/f110_env.py    | 19 ++++++++-----------
 f1tenth_gym/envs/track/track.py | 24 ++++++++++++++++--------
 3 files changed, 36 insertions(+), 33 deletions(-)

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 78c0c7e8..709f6b0f 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -304,11 +304,11 @@ def main():
     work = {
         "mass": 3.463388126201571,
         "lf": 0.15597534362552312,
-        "tlad": 0.82461887897713965,
-        "vgain": 0.5,
+        "tlad": 0.82461887897713965 * 2,
+        "vgain": 1.,
     }
 
-    num_agents = 2
+    num_agents = 1
     env = gym.make(
         "f1tenth_gym:f1tenth-v0",
         config={
@@ -330,7 +330,7 @@ def main():
             "compute_frenet": 0,
             "max_laps": 2,  # 'inf' for infinite laps, or a positive integer
         },
-        render_mode="unlimited",
+        render_mode="unlimited", # "human", "human_fast", "unlimited"
     )
     track = env.unwrapped.track
 
@@ -348,17 +348,16 @@ def main():
     for r in planner.get_render_callbacks():
         env.unwrapped.add_render_callback(r)
 
-    frenet_start = np.array(env.unwrapped.track.frenet_to_cartesian(0, 0, 0))
+    frenet_start = np.array(env.unwrapped.track.frenet_to_cartesian(0.0, 0, 0))
     frenet_start2 = np.array(env.unwrapped.track.frenet_to_cartesian(10, 0, 0))
     init_poses = np.array([frenet_start, frenet_start2])
-    obs, info = env.reset(options={'poses':init_poses})
+    obs, info = env.reset(options={'poses':init_poses[:num_agents]})
     done = False
     env.render()
 
     laptime = 0.0
     start = time.time()
     times = []
-
     while not done:
         action = env.action_space.sample()
         for i, agent_id in enumerate(obs.keys()):
@@ -374,7 +373,6 @@ def main():
         obs, step_reward, done, truncated, info = env.step(action)
         
         times.append(1/(time.time() - t1))
-        # print(info)
         if len(times) > 2000:
             print("FPS:", np.mean(times))
             times = []
@@ -386,9 +384,9 @@ def main():
 if __name__ == "__main__":
     main()
 # %%
-work = {
-    "mass": 3.463388126201571,
-    "lf": 0.15597534362552312,
-    "tlad": 0.82461887897713965 * 10,
-    "vgain": 1,
-}
+# work = {
+#     "mass": 3.463388126201571,
+#     "lf": 0.15597534362552312,
+#     "tlad": 0.82461887897713965 * 10,
+#     "vgain": 1,
+# }
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index c73bd5a3..27cf92ab 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -23,16 +23,10 @@
 """
 Author: Hongrui Zheng, Zirui Zang
 """
-
-# gym imports
 import gymnasium as gym
-
-# others
 import numpy as np
 
 from .action import CarAction, from_single_to_multi_action_space
-
-# base classes
 from .base_classes import DynamicModel, Simulator
 from .integrator import IntegratorType
 from .observation import observation_factory
@@ -122,8 +116,11 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
             self.lap_counts = np.zeros((self.num_agents, ))
             self.sim_time = 0.0
         
-        if isinstance(self.map, Track):
-            self.track = self.map
+        if '/' in self.map or '\\' in self.map:
+            self.track = Track.from_track_path(
+                self.map,
+                track_scale=self.config["map_scale"],
+            )
         else:
             self.track = Track.from_track_name(
                 self.map,
@@ -202,14 +199,14 @@ def default_config(cls) -> dict:
             "map": "Spielberg",
             "map_scale": 1.0,
             "params": cls.f1tenth_vehicle_params(),
-            "num_agents": 2,
+            "num_agents": 1,
             "timestep": 0.01,
             "integrator_timestep": 0.01,
             "ego_idx": 0,
             "max_laps": 'inf',  # 'inf' for infinite laps, or a positive integer
             "integrator": "rk4",
             "model": "st", # "ks", "st", "mb"
-            "control_input": ["speed", "steering_angle"],
+            "control_input": ["speed", "steering_angle"], # ["speed", "steering_angle"], ["accl", "steering_speed"]
             "observation_config": {"type": "direct"},
             "reset_config": {"type": None},
             "enable_rendering": True,
@@ -220,7 +217,7 @@ def default_config(cls) -> dict:
             "lidar_noise_std": 0.01,
             "steer_delay_buffer_size": 1,
             "compute_frenet": True, 
-            "collision_check_method": "bounding_box", # "lidar_scan", "bounding_box"
+            "collision_check_method": "lidar_scan", # "lidar_scan", "bounding_box"
             "loop_counting_method": "frenet_based", # "toggle", "frenet_based", "winding_angle"
         }
 
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index 699a9ffd..1cb1878e 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -133,7 +133,6 @@ def from_track_name(track: str, track_scale: float = 1.0) -> Track:
             image = Image.open(track_dir / str(map_filename)).transpose(
                 Transpose.FLIP_TOP_BOTTOM
             )
-
             occupancy_map = np.array(image).astype(np.float32)
             occupancy_map[occupancy_map <= 128] = 0.0
             occupancy_map[occupancy_map > 128] = 255.0
@@ -191,9 +190,9 @@ def from_track_path(path: pathlib.Path, track_scale: float = 1.0) -> Track:
         try:
             if type(path) is str:
                 path = pathlib.Path(path)
-        
+
             track_spec = Track.load_spec(
-                track=path.stem, filespec=path
+                track=path.stem, filespec=path.parent / f"{path.stem}_map.yaml"
             )
             track_spec.resolution = track_spec.resolution * track_scale
             track_spec.origin = (
@@ -209,18 +208,27 @@ def from_track_path(path: pathlib.Path, track_scale: float = 1.0) -> Track:
             occupancy_map = np.array(image).astype(np.float32)
             occupancy_map[occupancy_map <= 128] = 0.0
             occupancy_map[occupancy_map > 128] = 255.0
-
+            
             # if exists, load centerline
-            if (path / f"{path.stem}_centerline.csv").exists():
-                centerline = Raceline.from_centerline_file(path / f"{path.stem}_centerline.csv")
+            if (path.parent / f"{path.stem}_centerline.csv").exists():
+                centerline = Raceline.from_centerline_file(path.parent / f"{path.stem}_centerline.csv",
+                                                           track_scale=track_scale,)
             else:
                 centerline = None
 
             # if exists, load raceline
-            if (path / f"{path.stem}_raceline.csv").exists():
-                raceline = Raceline.from_raceline_file(path / f"{path.stem}_raceline.csv")
+            if (path.parent / f"{path.stem}_raceline.csv").exists():
+                raceline = Raceline.from_raceline_file(path.parent / f"{path.stem}_raceline.csv",
+                                                       track_scale=track_scale,)
             else:
                 raceline = centerline
+                
+            if centerline is None:
+                centerline = raceline
+            if raceline is None and centerline is None:
+                raise ValueError(
+                    f"Please provide a centerline/raceline."
+                )
 
             return Track(
                 spec=track_spec,

From f9b7a251708699991a0683552fc23b384585324d Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Tue, 24 Jun 2025 05:20:18 -0400
Subject: [PATCH 26/54] track path change

---
 f1tenth_gym/envs/rendering/pyqtgl_objects.py | 6 +++---
 f1tenth_gym/envs/rendering/rendering.yaml    | 2 +-
 f1tenth_gym/envs/track/track.py              | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index 73c928dd..bbb379e9 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -71,7 +71,7 @@ def apply_pose(self, pose, scale=1.0):
             [s,  c, 0],
             [0,  0, 1]
         ])
-        return ((self.base_rect * scale) @ R.T) + np.array([x, y, 0.01])
+        return ((self.base_rect * scale) @ R.T) + np.array([x, y, 0.02])
         
     def update(self, obs: dict[str, np.ndarray], id: str):        
         state = obs[id]["std_state"].astype(float)
@@ -96,12 +96,12 @@ def render(self, scale=1.0):
                                 smooth=False,
                                 drawEdges=False,)
             self.mesh.rotate(self.pose[2] / np.pi * 180, 0, 0, 1)
-            self.mesh.translate(self.pose[0], self.pose[1], 0.01)
+            self.mesh.translate(self.pose[0], self.pose[1], 0.02)
             self.scale = scale
         else:
             self.mesh.resetTransform()
             self.mesh.rotate(self.pose[2] / np.pi * 180, 0, 0, 1)
-            self.mesh.translate(self.pose[0], self.pose[1], 0.01)
+            self.mesh.translate(self.pose[0], self.pose[1], 0.02)
 
 class LinesRenderer(ObjectRenderer):
     def __init__(
diff --git a/f1tenth_gym/envs/rendering/rendering.yaml b/f1tenth_gym/envs/rendering/rendering.yaml
index 3d26c984..007d9dbd 100644
--- a/f1tenth_gym/envs/rendering/rendering.yaml
+++ b/f1tenth_gym/envs/rendering/rendering.yaml
@@ -2,7 +2,7 @@ window_size: 800      # [px] width and height of the window
 focus_on: agent_0     # [str] agent id to focus on (e.g., agent_0) or null for map view
 zoom_in_factor: 0.5   # [float] zoom in factor. 1.0 is no zoom, >1.0 is zoom in, <1.0 is zoom out
 bigger_car_when_map_centered: True  # [bool] it toggles the size of the car when centered in the map
-render_map_img: True  # [bool] it toggles the visualization of the map image
+render_map_img: False  # [bool] it toggles the visualization of the map image
 show_wheels: True     # [bool] it toggles the visualization of the vehicle wheels
 car_tickness: 1       # [px] thickness of the car
 show_info: True       # [bool] it toggles the visualization of the instruction text
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index 1cb1878e..3f73763e 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -157,7 +157,7 @@ def from_track_name(track: str, track_scale: float = 1.0) -> Track:
 
             return Track(
                 spec=track_spec,
-                filepath=str((track_dir / map_filename.stem).absolute()),
+                filepath=str((track_dir / track).absolute()),
                 ext=map_filename.suffix,
                 occupancy_map=occupancy_map,
                 centerline=centerline,

From 4256025f7ba214657d6f453243eec5f67a4c65e1 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Thu, 26 Jun 2025 01:25:58 -0400
Subject: [PATCH 27/54] renderering enhancements and bug fixes

---
 examples/waypoint_follow.py                    |  4 ++--
 f1tenth_gym/envs/f110_env.py                   |  8 +++++---
 f1tenth_gym/envs/rendering/pyqtgl_objects.py   |  5 ++++-
 f1tenth_gym/envs/rendering/rendering_pyqtgl.py |  6 +++++-
 f1tenth_gym/envs/track/cubic_spline.py         | 13 ++++++-------
 f1tenth_gym/envs/track/raceline.py             |  1 -
 6 files changed, 22 insertions(+), 15 deletions(-)

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 709f6b0f..0226dd61 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -328,9 +328,9 @@ def main():
             "enable_scan": 0,
             "lidar_num_beams": 270,
             "compute_frenet": 0,
-            "max_laps": 2,  # 'inf' for infinite laps, or a positive integer
+            "max_laps": 5,  # 'inf' for infinite laps, or a positive integer
         },
-        render_mode="unlimited", # "human", "human_fast", "unlimited"
+        render_mode="human_fast", # "human", "human_fast", "unlimited"
     )
     track = env.unwrapped.track
 
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 27cf92ab..10627ce6 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -23,6 +23,7 @@
 """
 Author: Hongrui Zheng, Zirui Zang
 """
+import copy
 import gymnasium as gym
 import numpy as np
 
@@ -232,7 +233,8 @@ def fullscale_vehicle_params(cls) -> dict:
             "h": 0.557,
             "m": 1225.8878467253344,
             "I": 1538.8533713561394,
-            "width": 1.674,
+            # "width": 1.674,
+            "width": 0.1,
             "length": 4.298,
             # steering constraints
             "s_min": -0.91,
@@ -481,10 +483,10 @@ def step(self, action):
         obs = self.observation_type.observe()
         if self.observation_config["type"] == "direct":
             # for direct observation, also update the render_obs
-            self.render_obs = obs
+            self.render_obs = copy.deepcopy(obs)
         else:
             # for other observation types, update the render_obs
-            self.render_obs = self.render_obs_type.observe()
+            self.render_obs = copy.deepcopy(self.render_obs_type.observe())
 
         # times
         reward = self.timestep
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index bbb379e9..75245c53 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -102,7 +102,8 @@ def render(self, scale=1.0):
             self.mesh.resetTransform()
             self.mesh.rotate(self.pose[2] / np.pi * 180, 0, 0, 1)
             self.mesh.translate(self.pose[0], self.pose[1], 0.02)
-
+            
+            
 class LinesRenderer(ObjectRenderer):
     def __init__(
         self, 
@@ -190,5 +191,7 @@ def __init__(
         env_renderer.view.addItem(self.scatter)
 
     def update(self, points: np.ndarray):
+        if points.ndim == 1:
+            points = points.reshape(1, -1)
         self.points = np.hstack([points, np.ones((points.shape[0], 1)) * 0.01])
         self.scatter.setData(pos=self.points)
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 9e965ba4..a9d085f4 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -49,6 +49,7 @@ def __init__(
         
         if self.render_spec.car_model == "2d":
             self._enable_pan_only()
+            self.focused = True
         self._init_map(track)
         
         # FPS label
@@ -159,6 +160,7 @@ def mousePressEvent(event):
                 self.view.pan_active = True
                 self.view.pan_start = event.pos()
                 event.accept()
+                self.focused = False
             if event.button() == QtCore.Qt.MouseButton.RightButton:
                 logging.debug("Pressed right button -> Follow Next agent")
                 if self.agent_to_follow is None:
@@ -166,6 +168,7 @@ def mousePressEvent(event):
                 else:
                     self.agent_to_follow = (self.agent_to_follow + 1) % len(self.agent_ids)
                 self._center_camera_on_car(self.agent_to_follow, distance_reset=True)
+                self.focused = True
             elif event.button() == QtCore.Qt.MouseButton.MiddleButton:
                 logging.debug("Pressed middle button -> Change to Map View")
                 self._center_camera_on_map()
@@ -242,7 +245,8 @@ def render(self):
             for callback_fn in self.callbacks:
                 callback_fn(self)
             if self.agent_to_follow is not None and self.render_spec.car_model == "2d":
-                self._center_camera_on_car(self.agent_to_follow)
+                if self.focused:
+                    self._center_camera_on_car(self.agent_to_follow, distance_reset=True)
             # draw cars
             for i in range(len(self.agent_ids)):
                 self.cars[i].render(self.car_scale)
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index 59e94c74..a9917ba9 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -56,23 +56,22 @@ def __init__(self, x, y,
         self.spline = interpolate.CubicSpline(self.s, self.points, bc_type="periodic")
         self.spline_x = np.array(self.spline.x) 
         self.spline_c = np.array(self.spline.c) 
-        self.diffs = self.points[1:, :2] - self.points[:, :2][:-1, :2]
-        self.l2s = self.diffs[:, 0] ** 2 + self.diffs[:, 1] ** 2
+        self.length = len(self.spline_x)
 
     def find_segment_for_s(self, x):
         # Find the segment of the spline that x is in
         # print(x, self.spline.x[-1], self.s_interval, len(self.spline_x))
-        return (x / (self.spline.x[-1] + self.s_interval) * (len(self.spline_x) - 1)).astype(int)
-        # return (x / (self.spline.x[-1]) * (len(self.spline_x) - 2)).astype(int)
+        # return (x / (self.spline.x[-1] + self.s_interval) * (len(self.spline_x) - 1)).astype(int)
+        return (x / (self.spline.x[-1]) * (len(self.spline_x) - 2)).astype(int)
     
     def predict_with_spline(self, point, segment, state_index=0):
         # A (4, 100) array, where the rows contain (x-x[i])**3, (x-x[i])**2 etc.
         # exp_x = (point - self.spline.x[[segment]])[None, :] ** np.arange(4)[::-1, None]
-        exp_x = ((point - self.spline.x[segment % len(self.spline.x)]) ** np.arange(4)[::-1])[:, None]
-        vec = self.spline_c[:, segment % self.spline_c.shape[1], state_index]
+        exp_x = ((point - self.spline.x[segment % self.length]) ** np.arange(4)[::-1])[:, None]
+        vec = self.spline_c[:, segment % (self.length - 1), state_index]
         # Sum over the rows of exp_x weighted by coefficients in the ith column of s.c
         point = vec.dot(exp_x)
-        return np.asarray(point)
+        return point
 
     def __calc_s(self, x: np.ndarray, y: np.ndarray) -> np.ndarray:
         """
diff --git a/f1tenth_gym/envs/track/raceline.py b/f1tenth_gym/envs/track/raceline.py
index fe05116a..6a367de9 100644
--- a/f1tenth_gym/envs/track/raceline.py
+++ b/f1tenth_gym/envs/track/raceline.py
@@ -65,7 +65,6 @@ def __init__(
         # compute spline through waypoints if not provided
         self.spline = spline or CubicSpline2D(x=xs, y=ys)
         self.s_frame_max = self.spline.s[-1]
-        self.s_guess = 0.0
 
         self.waypoint_renderer = None
 

From e724473717612793564324cbdbdaeaaa315d05ea Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Thu, 26 Jun 2025 04:08:57 -0400
Subject: [PATCH 28/54] renderer add z_offset, bug fixes

---
 examples/waypoint_follow.py                   |  6 +-
 f1tenth_gym/envs/f110_env.py                  |  3 +-
 f1tenth_gym/envs/rendering/pyqtgl_objects.py  | 59 +++++++++++++------
 .../envs/rendering/rendering_pyqtgl.py        | 11 ++--
 4 files changed, 52 insertions(+), 27 deletions(-)

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 0226dd61..783e1172 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -4,6 +4,7 @@
 import gymnasium as gym
 import numpy as np
 from numba import njit
+import pathlib
 
 from f1tenth_gym.envs.f110_env import F110Env
 
@@ -307,7 +308,6 @@ def main():
         "tlad": 0.82461887897713965 * 2,
         "vgain": 1.,
     }
-
     num_agents = 1
     env = gym.make(
         "f1tenth_gym:f1tenth-v0",
@@ -330,7 +330,7 @@ def main():
             "compute_frenet": 0,
             "max_laps": 5,  # 'inf' for infinite laps, or a positive integer
         },
-        render_mode="human_fast", # "human", "human_fast", "unlimited"
+        render_mode="unlimited", # "human", "human_fast", "unlimited"
     )
     track = env.unwrapped.track
 
@@ -344,7 +344,7 @@ def main():
         ),
     )
 
-    env.unwrapped.add_render_callback(track.raceline.render_waypoints)
+    track.raceline.render_waypoints(env.unwrapped.renderer)
     for r in planner.get_render_callbacks():
         env.unwrapped.add_render_callback(r)
 
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 10627ce6..0ef39b6b 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -233,8 +233,7 @@ def fullscale_vehicle_params(cls) -> dict:
             "h": 0.557,
             "m": 1225.8878467253344,
             "I": 1538.8533713561394,
-            # "width": 1.674,
-            "width": 0.1,
+            "width": 1.674,
             "length": 4.298,
             # steering constraints
             "s_min": -0.91,
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index 75245c53..cbb37d3c 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -27,9 +27,11 @@ def __init__(
         self.wheel_size = wheel_size
         self.car_thickness = render_spec.car_tickness
         self.show_wheels = render_spec.show_wheels
-        self.rgba = [c / 255 for c in color] + [1.0]
+        self.opacity = 1.0
+        self.rgba = [c / 255 for c in color] + [self.opacity]
         self.rgba = np.array([self.rgba] * 2)
         self.scale = 1.0
+        self.z_offset = 0.3  # Offset for rendering above the ground
         
         # Define centered rectangle in local coords
         hl = self.car_length / 2 # half-length
@@ -71,7 +73,7 @@ def apply_pose(self, pose, scale=1.0):
             [s,  c, 0],
             [0,  0, 1]
         ])
-        return ((self.base_rect * scale) @ R.T) + np.array([x, y, 0.02])
+        return ((self.base_rect * scale) @ R.T) + np.array([x, y, self.z_offset])
         
     def update(self, obs: dict[str, np.ndarray], id: str):        
         state = obs[id]["std_state"].astype(float)
@@ -82,7 +84,7 @@ def update(self, obs: dict[str, np.ndarray], id: str):
         )
         if obs[id]["collision"] > 0:
             color = (255, 0, 0)
-            self.rgba = [c / 255 for c in color] + [1.0]
+            self.rgba = [c / 255 for c in color] + [self.opacity]
             self.rgba = np.array([self.rgba] * 2)
         self.steering = state[2]
         
@@ -96,12 +98,12 @@ def render(self, scale=1.0):
                                 smooth=False,
                                 drawEdges=False,)
             self.mesh.rotate(self.pose[2] / np.pi * 180, 0, 0, 1)
-            self.mesh.translate(self.pose[0], self.pose[1], 0.02)
+            self.mesh.translate(self.pose[0], self.pose[1], self.z_offset)
             self.scale = scale
         else:
             self.mesh.resetTransform()
             self.mesh.rotate(self.pose[2] / np.pi * 180, 0, 0, 1)
-            self.mesh.translate(self.pose[0], self.pose[1], 0.02)
+            self.mesh.translate(self.pose[0], self.pose[1], self.z_offset)
             
             
 class LinesRenderer(ObjectRenderer):
@@ -110,10 +112,12 @@ def __init__(
         env_renderer: EnvRenderer,
         points: list | np.ndarray, 
         color: Optional[tuple[int, int, int]] = (0, 0, 255), 
-        size: Optional[int] = 1
+        size: Optional[int] = 1,
+        z_offset: float = 0.01
         ):
         # Convert to 3D (z=0)
-        self.points3d = np.hstack([points, np.zeros((points.shape[0], 1))])
+        self.z_offset = z_offset
+        self.points3d = np.hstack([points, np.ones((points.shape[0], 1)) * z_offset])
 
         # Normalize color
         rgba = tuple([c / 255 for c in color] + [1.0])
@@ -130,7 +134,7 @@ def __init__(
         env_renderer.view.addItem(self.line)
 
     def update(self, points: np.ndarray):
-        self.points3d = np.hstack([points, np.zeros((points.shape[0], 1))])
+        self.points3d = np.hstack([points, np.ones((points.shape[0], 1)) * self.z_offset])
         self.line.setData(pos=self.points3d)
         
 class ClosedLinesRenderer(ObjectRenderer):
@@ -139,21 +143,23 @@ def __init__(
         env_renderer: EnvRenderer,
         points: np.ndarray,
         color: tuple[int, int, int] = (0, 0, 255),
-        size: float = 2.0
+        size: float = 2.0,
+        z_offset: float = 0.01
     ):
+        self.z_offset = z_offset
         # Ensure loop is closed
         if not np.array_equal(points[0], points[-1]):
             points = np.vstack([points, points[0]])
 
         # Convert to 3D (z=0)
-        self.points3d = np.hstack([points, np.ones((points.shape[0], 1)) * 0.01])
+        points3d = np.hstack([points, np.ones((points.shape[0], 1)) * z_offset])
 
         # Normalize color
         rgba = tuple([c / 255 for c in color] + [1.0])
 
         # Create the OpenGL line loop
         self.line = gl.GLLinePlotItem(
-            pos=self.points3d,
+            pos=points3d,
             color=rgba,
             width=size,
             mode='line_strip',
@@ -165,8 +171,11 @@ def __init__(
     def update(self, points: np.ndarray):
         if not np.array_equal(points[0], points[-1]):
             points = np.vstack([points, points[0]])
-        self.points3d = np.hstack([points, np.ones((points.shape[0], 1)) * 0.01])
-        self.line.setData(pos=self.points3d)
+        if points.shape[1] == 2:
+            points = np.hstack([points, np.ones((points.shape[0], 1)) * self.z_offset])
+        else:
+            points = points
+        self.line.setData(pos=points)
 
 class PointsRenderer(ObjectRenderer):
     def __init__(
@@ -174,15 +183,21 @@ def __init__(
         env_renderer: EnvRenderer,
         points: np.ndarray,
         color: tuple[int, int, int] = (0, 0, 255),
-        size: int = 5
+        size: int = 5,
+        z_offset: float = 0.01
     ):
+        self.z_offset = z_offset
         # Normalize color to (0–1)
         color_rgba = tuple([c / 255 for c in color] + [1.0])
 
         # Convert to 3D
-        self.points = np.hstack([points, np.ones((points.shape[0], 1)) * 0.01])  # z = 0
+        if points.shape[1] == 2:
+            points = np.hstack([points, np.ones((points.shape[0], 1)) * self.z_offset])
+        else:
+            points = points
+        self.points_shape = points.shape
         self.scatter = gl.GLScatterPlotItem(
-            pos=self.points,
+            pos=points,
             color=color_rgba,
             size=size,
             pxMode=True,  # Use pixel-based sizing
@@ -193,5 +208,13 @@ def __init__(
     def update(self, points: np.ndarray):
         if points.ndim == 1:
             points = points.reshape(1, -1)
-        self.points = np.hstack([points, np.ones((points.shape[0], 1)) * 0.01])
-        self.scatter.setData(pos=self.points)
+        if points.shape[1] == 2:
+            points = np.hstack([points, np.ones((points.shape[0], 1)) * self.z_offset])
+        else:
+            points = points
+        if points.shape != self.points_shape:
+            self.scatter.setData(pos=points)
+            self.points_shape = points.shape
+        else:
+            self.scatter.pos[:] = points
+            self.scatter.update()
\ No newline at end of file
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index a9d085f4..cd22e195 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -288,24 +288,27 @@ def get_points_renderer(
         points: list | np.ndarray,
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
+        **kwargs
     ) -> ObjectRenderer:
-        return PointsRenderer(self, points, color, size)
+        return PointsRenderer(self, points, color, size, **kwargs)
 
     def get_lines_renderer(
         self,
         points: list | np.ndarray,
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
-        size: Optional[int] = 1,
+        size: Optional[int] = 1, 
+        **kwargs
     ) -> ObjectRenderer:
-        return LinesRenderer(self, points, color, size)
+        return LinesRenderer(self, points, color, size, **kwargs)
 
     def get_closed_lines_renderer(
         self,
         points: list | np.ndarray,
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
+        **kwargs
     ) -> ObjectRenderer:
-        return ClosedLinesRenderer(self, points, color, size)
+        return ClosedLinesRenderer(self, points, color, size, **kwargs)
 
     def close(self):
         self.window.close()

From e60acba27acdda42e160a0c9cb95801895d311bf Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Fri, 27 Jun 2025 01:35:40 -0400
Subject: [PATCH 29/54] renderer add zooming

---
 f1tenth_gym/envs/f110_env.py                  | 13 ++++++------
 .../envs/rendering/rendering_pyqtgl.py        | 20 ++++++++++++++-----
 2 files changed, 22 insertions(+), 11 deletions(-)

diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 0ef39b6b..d8ada4d2 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -480,12 +480,13 @@ def step(self, action):
 
         # observation
         obs = self.observation_type.observe()
-        if self.observation_config["type"] == "direct":
-            # for direct observation, also update the render_obs
-            self.render_obs = copy.deepcopy(obs)
-        else:
-            # for other observation types, update the render_obs
-            self.render_obs = copy.deepcopy(self.render_obs_type.observe())
+        if self.config["enable_rendering"]:
+            if self.observation_config["type"] == "direct":
+                # for direct observation, also update the render_obs
+                self.render_obs = copy.deepcopy(obs)
+            else:
+                # for other observation types, update the render_obs
+                self.render_obs = copy.deepcopy(self.render_obs_type.observe())
 
         # times
         reward = self.timestep
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index cd22e195..5d18ea4c 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -21,6 +21,7 @@ def __init__(
         render_fps: int,
     ):
         super().__init__()
+        self.camera_free_rotation = 0
         self.params = params
         self.agent_ids = agent_ids
         self.render_spec = render_spec
@@ -34,6 +35,7 @@ def __init__(
         self.car_scale = 1.0
         self.default_camera_dist = self.params['width'] * 70
         self.obs = None
+        self.zoom_level = 1.0
         
         fmt = QtGui.QSurfaceFormat()
         fmt.setSwapInterval(0)  # 0 = no vsync, 1 = vsync
@@ -48,7 +50,7 @@ def __init__(
         self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
         
         if self.render_spec.car_model == "2d":
-            self._enable_pan_only()
+            if not self.camera_free_rotation: self._enable_pan_only()
             self.focused = True
         self._init_map(track)
         
@@ -142,7 +144,7 @@ def _center_camera_on_car(self, car_idx=0, distance_reset=False):
         self.car_scale = 1.0
         if distance_reset:
             self.view.setCameraPosition(
-                distance=self.default_camera_dist,  # zoom level
+                distance=self.default_camera_dist * self.zoom_level,  # zoom level
             )
         self.view.setCameraPosition(
             pos=QtGui.QVector3D(x, y, 1),             # camera position
@@ -184,6 +186,12 @@ def mouseMoveEvent(event):
                 event.accept()
             else:
                 event.ignore()
+                
+        def wheelEvent(event):
+            delta = event.angleDelta().y()
+            factor = 0.85 if delta > 0 else 1.15
+            self.zoom_level *= factor
+            event.accept()
 
         def mouseReleaseEvent(event):
             self.view.pan_active = False
@@ -192,6 +200,7 @@ def mouseReleaseEvent(event):
         self.view.mousePressEvent = mousePressEvent
         self.view.mouseMoveEvent = mouseMoveEvent
         self.view.mouseReleaseEvent = mouseReleaseEvent
+        self.view.wheelEvent = wheelEvent
 
     def update(self, obs: dict) -> None:
         """
@@ -244,13 +253,14 @@ def render(self):
             # call callbacks
             for callback_fn in self.callbacks:
                 callback_fn(self)
-            if self.agent_to_follow is not None and self.render_spec.car_model == "2d":
-                if self.focused:
+            if self.agent_to_follow is not None and \
+                self.render_spec.car_model == "2d" and \
+                not self.camera_free_rotation and \
+                self.focused:
                     self._center_camera_on_car(self.agent_to_follow, distance_reset=True)
             # draw cars
             for i in range(len(self.agent_ids)):
                 self.cars[i].render(self.car_scale)
-            
             self.app.processEvents()
             
             if self.render_mode in ["human", "human_fast", 'unlimited']:

From 502ffa61f4f4468112c92f189173be597496adcc Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Fri, 27 Jun 2025 14:41:04 -0400
Subject: [PATCH 30/54] bound yaw between -pi to pi

---
 f1tenth_gym/envs/base_classes.py       | 2 +-
 f1tenth_gym/envs/track/cubic_spline.py | 4 ++--
 f1tenth_gym/envs/track/track.py        | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
index b9fb7262..53caa555 100644
--- a/f1tenth_gym/envs/base_classes.py
+++ b/f1tenth_gym/envs/base_classes.py
@@ -351,7 +351,7 @@ def update_dynamic(self, raw_steer, vel):
             )
 
         # bound yaw angle
-        self.state[4] = (self.state[4] + 2 * np.pi) % (2 * np.pi)  # TODO: This is a problem waiting to happen
+        self.state[4] = np.arctan2(np.sin(self.state[4]), np.cos(self.state[4]))
 
         if self.config['enable_scan']:
             # update scan
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index a9917ba9..554e327f 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -97,7 +97,7 @@ def __calc_s(self, x: np.ndarray, y: np.ndarray) -> np.ndarray:
     def _calc_yaw_from_xy(self, x, y):
         dx_dt = np.gradient(x, edge_order=2)
         dy_dt = np.gradient(y, edge_order=2)
-        heading = (np.arctan2(dy_dt, dx_dt) + 2 * math.pi) % (2 * math.pi)
+        heading = np.arctan2(dy_dt, dx_dt)
         return heading
 
     def _calc_kappa_from_xy(self, x, y):
@@ -189,7 +189,7 @@ def calc_yaw(self, s: float, segment=None) -> Optional[float]:
         segment = segment or self.find_segment_for_s(s)
         cos = self.predict_with_spline(s, segment, 2)[0]
         sin = self.predict_with_spline(s, segment, 3)[0]
-        yaw = (math.atan2(sin, cos) + 2 * math.pi) % (2 * math.pi)
+        yaw = np.arctan2(sin, cos)
         return yaw
 
     # def calc_arclength(
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index 3f73763e..1fb89a50 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -436,7 +436,7 @@ def frenet_to_cartesian(self, s, ey, ephi, use_raceline=False):
 
         # Adjust psi by adding the heading deviation
         psi += ephi
-        return x, y, (psi + (2 * np.pi)) % (2 * np.pi)
+        return x, y, np.arctan2(np.sin(psi), np.cos(psi))
 
     def cartesian_to_frenet(self, x, y, psi, use_raceline=False, s_guess=None, use_s_guess=True):
         """
@@ -479,4 +479,4 @@ def cartesian_to_frenet(self, x, y, psi, use_raceline=False, s_guess=None, use_s
         ey = ey * distance_sign
 
         psi = psi - yaw
-        return s, ey, (psi + (2 * np.pi)) % (2 * np.pi)
+        return s, ey, np.arctan2(np.sin(psi), np.cos(psi))

From e7b12ea548cb96355df3de893d5123e6aca21dd7 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Tue, 1 Jul 2025 01:01:00 -0400
Subject: [PATCH 31/54] use deque for steering buffer, rendering window open
 after render()

---
 examples/waypoint_follow.py                   |  1 +
 f1tenth_gym/envs/base_classes.py              | 31 ++++++++++---------
 f1tenth_gym/envs/f110_env.py                  | 28 ++++++++++++++++-
 f1tenth_gym/envs/observation.py               |  6 ++--
 .../envs/rendering/rendering_pyqtgl.py        |  7 ++++-
 f1tenth_gym/envs/track/cubic_spline.py        |  4 +--
 f1tenth_gym/envs/track/track.py               |  7 +++--
 7 files changed, 60 insertions(+), 24 deletions(-)

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 783e1172..a431d193 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -329,6 +329,7 @@ def main():
             "lidar_num_beams": 270,
             "compute_frenet": 0,
             "max_laps": 5,  # 'inf' for infinite laps, or a positive integer
+            "steer_delay_buffer_size": 1,  # 0 for no delay, >0 for delay
         },
         render_mode="unlimited", # "human", "human_fast", "unlimited"
     )
diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
index 53caa555..8941ba80 100644
--- a/f1tenth_gym/envs/base_classes.py
+++ b/f1tenth_gym/envs/base_classes.py
@@ -29,6 +29,7 @@
 
 from __future__ import annotations
 import numpy as np
+from collections import deque
 from .dynamic_models import DynamicModel
 from .action import CarAction
 from .collision_models import collision_multiple, get_vertices
@@ -126,8 +127,7 @@ def __init__(
         self.steer_angle_vel = 0.0
 
         # steering delay buffer
-        self.steer_buffer = np.empty((0,))
-        self.steer_buffer_size = self.config['steer_delay_buffer_size']
+        self.steer_buffer = deque(maxlen=self.config['steer_delay_buffer_size'])
 
         # collision identifier
         self.in_collision = False
@@ -224,7 +224,7 @@ def reset(self, pose, option='pose'):
         if self.config['compute_frenet'] and self.track is not None:
             self.frenet_pose = self.track.cartesian_to_frenet(self.state[0], self.state[1], self.state[4], use_s_guess=False)
 
-        self.steer_buffer = np.empty((0,))
+        self.steer_buffer = deque(maxlen=self.config['steer_delay_buffer_size'])
         # reset scan random generator
         self.scan_rng = np.random.default_rng(seed=self.seed)
 
@@ -305,14 +305,14 @@ def update_dynamic(self, raw_steer, vel):
         """
 
         # steering delay
-        steer = 0.0
-        if self.steer_buffer.shape[0] < self.steer_buffer_size:
-            steer = 0.0
-            self.steer_buffer = np.append(raw_steer, self.steer_buffer)
-        else:
-            steer = self.steer_buffer[-1]
-            self.steer_buffer = self.steer_buffer[:-1]
-            self.steer_buffer = np.append(raw_steer, self.steer_buffer)
+        steer = raw_steer
+        if self.steer_buffer.maxlen > 0:
+            if len(self.steer_buffer) < self.steer_buffer.maxlen:
+                steer = 0.0
+                self.steer_buffer.append(raw_steer)
+            else:
+                steer = self.steer_buffer.popleft()
+                self.steer_buffer.append(raw_steer)
 
         if self.action_type.type is None:
             raise ValueError("No Control Action Type Specified.")
@@ -351,7 +351,8 @@ def update_dynamic(self, raw_steer, vel):
             )
 
         # bound yaw angle
-        self.state[4] = np.arctan2(np.sin(self.state[4]), np.cos(self.state[4]))
+        # self.state[4] = (self.state[4] + 2 * np.pi) % (2 * np.pi)
+        self.state[4] = (self.state[4] + np.pi) % (2 * np.pi) - np.pi
 
         if self.config['enable_scan']:
             # update scan
@@ -544,7 +545,7 @@ def check_collision(self):
         all_vertices = np.empty((self.num_agents, 4, 2))
         for i in range(self.num_agents):
             all_vertices[i, :, :] = get_vertices(
-                np.append(self.agents[i].state[0:2], self.agents[i].state[4]),
+                np.append(self.agents[i].state[0:2].copy(), self.agents[i].state[4]).copy(),
                 self.params["length"],
                 self.params["width"],
             )
@@ -568,8 +569,8 @@ def step(self, control_inputs):
             self.agent_scans[i, :] = current_scan
 
             # update sim's information of agent poses
-            self.agent_poses[i, :] = np.append(agent.state[0:2], agent.state[4])
-            self.agent_steerings[i] = agent.state[2]
+            self.agent_poses[i, :] = np.append(agent.state[0:2], agent.state[4]).copy()
+            self.agent_steerings[i] = agent.state[2].copy()
             
             
         # check collisions between all agents
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index d8ada4d2..6ecf5783 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -216,12 +216,38 @@ def default_config(cls) -> dict:
             "lidar_num_beams": 1080,
             "lidar_range": 30.0,
             "lidar_noise_std": 0.01,
-            "steer_delay_buffer_size": 1,
+            "steer_delay_buffer_size": 0,
             "compute_frenet": True, 
             "collision_check_method": "lidar_scan", # "lidar_scan", "bounding_box"
             "loop_counting_method": "frenet_based", # "toggle", "frenet_based", "winding_angle"
         }
 
+    @classmethod
+    def fullscale_vehicle_params_st(cls) -> dict:
+        params = {
+            "mu": 1.0489,
+            "C_Sf": 20.89,
+            "C_Sr": 20.89,
+            "lf": 0.88392,
+            "lr": 1.50876,
+            "h": 0.557,
+            "m": 1225.8878467253344,
+            "I": 1538.8533713561394,
+            "width": 1.674,
+            "length": 4.298,
+            # steering constraints
+            "s_min": -0.91,
+            "s_max": 0.91,
+            "sv_min": -0.4,
+            "sv_max": 0.4,
+            # Longitudinal constraints
+            "v_switch": 4.755,
+            "a_max": 11.5,
+            "v_min": -13.9,
+            "v_max": 45.8,
+        }
+        return params
+    
     @classmethod
     def fullscale_vehicle_params(cls) -> dict:
         params = {
diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index 837c7491..643441ff 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -81,9 +81,9 @@ def observe(self):
 
             # create agent's observation dict
             agent_obs = {
-                "scan": scan,
-                "std_state": agent.standard_state,
-                "state": agent.state,
+                "scan": scan.copy(),
+                "std_state": agent.standard_state.copy(),
+                "state": agent.state.copy(),
                 "collision": agent.in_collision,
                 "lap_time": self.env.unwrapped.lap_times[i],
                 "lap_count": self.env.unwrapped.lap_counts[i],
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 5d18ea4c..ee945f82 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -36,6 +36,7 @@ def __init__(
         self.default_camera_dist = self.params['width'] * 70
         self.obs = None
         self.zoom_level = 1.0
+        self.init = True
         
         fmt = QtGui.QSurfaceFormat()
         fmt.setSwapInterval(0)  # 0 = no vsync, 1 = vsync
@@ -87,7 +88,7 @@ def __init__(
         self.sim_time = None
         self.callbacks = []
         self.draw_flag = True
-        self.window.show()
+        # self.window.show()
         
         # Colors
         self.car_colors = [
@@ -245,6 +246,10 @@ def update(self, obs: dict) -> None:
 
     def render(self):
         if self.draw_flag:
+            if self.init:
+                self.window.show()
+                self.init = False
+            
             if self.obs is not None:
                 self.lap_label.setText(f"Lap Time {self.obs[self.agent_ids[0]]['lap_time']:.2f}, " + 
                     f"Lap {int(self.obs[self.agent_ids[0]]['lap_count']):d}")
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index 554e327f..de857949 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -61,8 +61,8 @@ def __init__(self, x, y,
     def find_segment_for_s(self, x):
         # Find the segment of the spline that x is in
         # print(x, self.spline.x[-1], self.s_interval, len(self.spline_x))
-        # return (x / (self.spline.x[-1] + self.s_interval) * (len(self.spline_x) - 1)).astype(int)
-        return (x / (self.spline.x[-1]) * (len(self.spline_x) - 2)).astype(int)
+        return (x / (self.spline.x[-1] + self.s_interval) * (len(self.spline_x) - 1)).astype(int)
+        # return (x / (self.spline.x[-1]) * (len(self.spline_x) - 2)).astype(int)
     
     def predict_with_spline(self, point, segment, state_index=0):
         # A (4, 100) array, where the rows contain (x-x[i])**3, (x-x[i])**2 etc.
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index 1fb89a50..dc6232c4 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -436,7 +436,8 @@ def frenet_to_cartesian(self, s, ey, ephi, use_raceline=False):
 
         # Adjust psi by adding the heading deviation
         psi += ephi
-        return x, y, np.arctan2(np.sin(psi), np.cos(psi))
+        # return x, y, np.arctan2(np.sin(psi), np.cos(psi))
+        return x, y, (psi + np.pi) % (2 * np.pi) - np.pi  # wrap to [-pi, pi]
 
     def cartesian_to_frenet(self, x, y, psi, use_raceline=False, s_guess=None, use_s_guess=True):
         """
@@ -454,6 +455,7 @@ def cartesian_to_frenet(self, x, y, psi, use_raceline=False, s_guess=None, use_s
         line = self.raceline if use_raceline else self.centerline
         if s_guess is None:
             s_guess = self.s_guess
+        # use_s_guess = False
         
         if use_s_guess and s_guess is not None:
             s_inds = line.spline.find_segment_for_s(s_guess)
@@ -479,4 +481,5 @@ def cartesian_to_frenet(self, x, y, psi, use_raceline=False, s_guess=None, use_s
         ey = ey * distance_sign
 
         psi = psi - yaw
-        return s, ey, np.arctan2(np.sin(psi), np.cos(psi))
+        # return s, ey, np.arctan2(np.sin(psi), np.cos(psi))
+        return s, ey, (psi + np.pi) % (2 * np.pi) - np.pi

From 2835b52dea19c5bc607b0feb628e57158a969668 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Tue, 1 Jul 2025 01:36:43 -0400
Subject: [PATCH 32/54] remove fullscale_params_st

---
 f1tenth_gym/envs/f110_env.py | 26 --------------------------
 1 file changed, 26 deletions(-)

diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 6ecf5783..0d078c91 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -221,32 +221,6 @@ def default_config(cls) -> dict:
             "collision_check_method": "lidar_scan", # "lidar_scan", "bounding_box"
             "loop_counting_method": "frenet_based", # "toggle", "frenet_based", "winding_angle"
         }
-
-    @classmethod
-    def fullscale_vehicle_params_st(cls) -> dict:
-        params = {
-            "mu": 1.0489,
-            "C_Sf": 20.89,
-            "C_Sr": 20.89,
-            "lf": 0.88392,
-            "lr": 1.50876,
-            "h": 0.557,
-            "m": 1225.8878467253344,
-            "I": 1538.8533713561394,
-            "width": 1.674,
-            "length": 4.298,
-            # steering constraints
-            "s_min": -0.91,
-            "s_max": 0.91,
-            "sv_min": -0.4,
-            "sv_max": 0.4,
-            # Longitudinal constraints
-            "v_switch": 4.755,
-            "a_max": 11.5,
-            "v_min": -13.9,
-            "v_max": 45.8,
-        }
-        return params
     
     @classmethod
     def fullscale_vehicle_params(cls) -> dict:

From 0e494f675240946bbb6680b5af9aaac88c57fafb Mon Sep 17 00:00:00 2001
From: zirui zang 
Date: Tue, 1 Jul 2025 21:33:58 -0400
Subject: [PATCH 33/54] fix ordering of the params

---
 f1tenth_gym/envs/f110_env.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 6ecf5783..8a436e70 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -266,15 +266,15 @@ def fullscale_vehicle_params(cls) -> dict:
             "s_max": 0.91,
             "sv_min": -0.4,
             "sv_max": 0.4,
-            # maximum curvature change
-            "kappa_dot_max": 0.4,
-            # maximum curvature rate rate
-            "kappa_dot_dot_max": 20.0,
             # Longitudinal constraints
             "v_switch": 4.755,
             "a_max": 11.5,
             "v_min": -13.9,
             "v_max": 45.8,
+            # maximum curvature change
+            "kappa_dot_max": 0.4,
+            # maximum curvature rate rate
+            "kappa_dot_dot_max": 20.0,
             # maximum longitudinal jerk [m/s^3]
             "j_max": 10.0e3,
             # maximum longitudinal jerk change [m/s^4]

From c37d31ca197214b5387aeb9d83942e6bca625242 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Tue, 1 Jul 2025 21:43:14 -0400
Subject: [PATCH 34/54] fixing ordering of params

---
 f1tenth_gym/envs/f110_env.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 3a51f02a..64c5c369 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -233,8 +233,6 @@ def fullscale_vehicle_params(cls) -> dict:
             "h": 0.557,
             "m": 1225.8878467253344,
             "I": 1538.8533713561394,
-            "width": 1.674,
-            "length": 4.298,
             # steering constraints
             "s_min": -0.91,
             "s_max": 0.91,
@@ -245,6 +243,8 @@ def fullscale_vehicle_params(cls) -> dict:
             "a_max": 11.5,
             "v_min": -13.9,
             "v_max": 45.8,
+            "width": 1.674,
+            "length": 4.298,
             # maximum curvature change
             "kappa_dot_max": 0.4,
             # maximum curvature rate rate

From f430954580b8318437a8fb53dc1391a3ae902edf Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Tue, 1 Jul 2025 22:51:21 -0400
Subject: [PATCH 35/54] converting dynamic models to using param_arr

---
 examples/waypoint_follow.py                   |   16 +-
 f1tenth_gym/envs/base_classes.py              |   71 +-
 f1tenth_gym/envs/dynamic_models/__init__.py   |    2 +-
 f1tenth_gym/envs/dynamic_models/kinematic.py  |  414 ++--
 .../dynamic_models/multi_body/__init__.py     |   24 +-
 .../dynamic_models/multi_body/multi_body.py   | 1993 ++++++++---------
 .../dynamic_models/multi_body/tire_model.py   |  190 +-
 .../multi_body/tire_model_new.py              |  184 --
 .../multi_body/tire_model_old.py              |  160 ++
 .../envs/dynamic_models/single_track.py       |  343 ++-
 f1tenth_gym/envs/f110_env.py                  |    2 +-
 f1tenth_gym/envs/observation.py               |    1 -
 12 files changed, 1639 insertions(+), 1761 deletions(-)
 delete mode 100644 f1tenth_gym/envs/dynamic_models/multi_body/tire_model_new.py
 create mode 100644 f1tenth_gym/envs/dynamic_models/multi_body/tire_model_old.py

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index a431d193..a4a67326 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -305,7 +305,7 @@ def main():
     work = {
         "mass": 3.463388126201571,
         "lf": 0.15597534362552312,
-        "tlad": 0.82461887897713965 * 2,
+        "tlad": 0.82461887897713965 * 8,
         "vgain": 1.,
     }
     num_agents = 1
@@ -318,10 +318,10 @@ def main():
             "integrator_timestep": 0.01,
             "integrator": "rk4",
             "control_input": ["speed", "steering_angle"],
-            "model": "st", # "ks", "st", "mb"
+            "model": 'mb', # "ks", "st", "mb"
             "observation_config": {"type": "direct"},
-            "params": F110Env.f1tenth_vehicle_params(),
-            # "params": F110Env.fullscale_vehicle_params(),
+            # "params": F110Env.f1tenth_vehicle_params(),
+            "params": F110Env.fullscale_vehicle_params(),
             "reset_config": {"type": "rl_random_static"},
             "map_scale": 1.0,
             "enable_rendering": 1,
@@ -338,10 +338,10 @@ def main():
     planner = PurePursuitPlanner(
         track=track,
         wb=(
-            F110Env.f1tenth_vehicle_params()["lf"]
-            + F110Env.f1tenth_vehicle_params()["lr"]
-            # F110Env.fullscale_vehicle_params()["lf"]
-            # + F110Env.fullscale_vehicle_params()["lr"]
+            # F110Env.f1tenth_vehicle_params()["lf"]
+            # + F110Env.f1tenth_vehicle_params()["lr"]
+            F110Env.fullscale_vehicle_params()["lf"]
+            + F110Env.fullscale_vehicle_params()["lr"]
         ),
     )
 
diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
index 8941ba80..4e9af1ac 100644
--- a/f1tenth_gym/envs/base_classes.py
+++ b/f1tenth_gym/envs/base_classes.py
@@ -107,18 +107,8 @@ def __init__(
         self.action_type = action_type
         self.model = model
         self.track = track
-        if self.model == DynamicModel.MB:
-            from .dynamic_models.multi_body.multi_body import sequential_param_keys
-            self.sequential_param_keys = sequential_param_keys
-        else:
-            self.sequential_param_keys = None
         self.standard_state_fn = self.model.get_standardized_state_fn()
 
-        # state of the vehicle
-        self.state = self.model.get_initial_state(params=self.params)
-        if self.config['compute_frenet'] and self.track is not None:
-            self.frenet_pose = self.track.cartesian_to_frenet(self.state[0], self.state[1], self.state[4], use_s_guess=False)
-
         # pose of opponents in the world
         self.opp_poses = None
 
@@ -134,6 +124,36 @@ def __init__(
 
         # collision threshold for iTTC to environment
         self.ttc_thresh = 0.005
+        
+        if self.config["model"] in ['st', 'ks']:
+            self.sequential_params = ['mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I',
+                                        's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 
+                                        'a_max', 'v_min', 'v_max', 'width', 'length']
+        elif self.config["model"] == 'mb':
+            self.sequential_params = ['mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 
+                            's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max', 
+                            'v_min', 'v_max', 'width', 'length', 'kappa_dot_max', 
+                            'kappa_dot_dot_max', 'j_max', 'j_dot_max', 'm_s', 'm_uf', 
+                            'm_ur', 'I_Phi_s', 'I_y_s', 'I_z', 'I_xz_s', 'K_sf', 
+                            'K_sdf', 'K_sr', 'K_sdr', 'T_f', 'T_r', 'K_ras', 'K_tsf', 
+                            'K_tsr', 'K_rad', 'K_zt', 'h_cg', 'h_raf', 'h_rar', 'h_s', 
+                            'I_uf', 'I_ur', 'I_y_w', 'K_lt', 'R_w', 'T_sb', 'T_se', 
+                            'D_f', 'D_r', 'E_f', 'E_r', 'tire_p_cx1', 'tire_p_dx1', 
+                            'tire_p_dx3', 'tire_p_ex1', 'tire_p_kx1', 'tire_p_hx1', 
+                            'tire_p_vx1', 'tire_r_bx1', 'tire_r_bx2', 'tire_r_cx1', 
+                            'tire_r_ex1', 'tire_r_hx1', 'tire_p_cy1', 'tire_p_dy1', 
+                            'tire_p_dy3', 'tire_p_ey1', 'tire_p_ky1', 'tire_p_hy1', 
+                            'tire_p_hy3', 'tire_p_vy1', 'tire_p_vy3', 'tire_r_by1', 
+                            'tire_r_by2', 'tire_r_by3', 'tire_r_cy1', 'tire_r_ey1', 
+                            'tire_r_hy1', 'tire_r_vy1', 'tire_r_vy3', 'tire_r_vy4', 
+                            'tire_r_vy5', 'tire_r_vy6']
+        self.update_params(params)
+        
+        # state of the vehicle
+        self.state = self.model.get_initial_state(params=self.params_arr)
+        if self.config['compute_frenet'] and self.track is not None:
+            self.frenet_pose = self.track.cartesian_to_frenet(self.state[0], self.state[1], self.state[4], use_s_guess=False)
+
 
         # initialize scan sim
         if RaceCar.scan_simulator is None:
@@ -190,6 +210,7 @@ def update_params(self, params):
             None
         """
         self.params = params
+        self.params_arr = np.array([self.params[p] for p in self.sequential_params])
 
     def set_map(self, map: str | Track, map_scale: float = 1.0):
         """
@@ -218,7 +239,7 @@ def reset(self, pose, option='pose'):
         self.in_collision = False
         if option == 'pose':
             # init state from pose
-            self.state = self.model.get_initial_state(pose=pose, params=self.params)
+            self.state = self.model.get_initial_state(pose=pose, params=self.params_arr)
         elif option == 'state':
             self.state = pose
         if self.config['compute_frenet'] and self.track is not None:
@@ -324,31 +345,9 @@ def update_dynamic(self, raw_steer, vel):
         u_np = np.array([sv, accl])
 
         f_dynamics = self.model.f_dynamics
-        if self.model == DynamicModel.MB:
-            self.state = self.integrator.integrate(
-                f_dynamics, self.state, u_np, [self.params[key] for key in self.sequential_param_keys]
-            )
-        else:
-            self.state = self.integrator.integrate(
-                f_dynamics, self.state, u_np, self.params['mu'],
-                                                self.params['C_Sf'],
-                                                self.params['C_Sr'],
-                                                self.params['lf'],
-                                                self.params['lr'],
-                                                self.params['h'],
-                                                self.params['m'],
-                                                self.params['I'],
-                                                self.params['s_min'],
-                                                self.params['s_max'],
-                                                self.params['sv_min'],
-                                                self.params['sv_max'],
-                                                self.params['v_switch'],
-                                                self.params['a_max'],
-                                                self.params['v_min'],
-                                                self.params['v_max'],
-                                                self.params['width'],
-                                                self.params['length']
-            )
+        self.state = self.integrator.integrate(
+            f_dynamics, self.state, u_np, self.params_arr
+        )
 
         # bound yaw angle
         # self.state[4] = (self.state[4] + 2 * np.pi) % (2 * np.pi)
diff --git a/f1tenth_gym/envs/dynamic_models/__init__.py b/f1tenth_gym/envs/dynamic_models/__init__.py
index 1d7f262e..2d66f95b 100644
--- a/f1tenth_gym/envs/dynamic_models/__init__.py
+++ b/f1tenth_gym/envs/dynamic_models/__init__.py
@@ -32,7 +32,7 @@ def from_string(model: str):
         else:
             raise ValueError(f"Unknown model type {model}")
 
-    def get_initial_state(self, pose=None, params: Optional[dict] = None):
+    def get_initial_state(self, pose=None, params=None):
         # Assert that if self is MB, params is not None
         if self == DynamicModel.MB and params is None:
             raise ValueError("MultiBody model requires parameters to be provided.")
diff --git a/f1tenth_gym/envs/dynamic_models/kinematic.py b/f1tenth_gym/envs/dynamic_models/kinematic.py
index 85d45789..e0365900 100644
--- a/f1tenth_gym/envs/dynamic_models/kinematic.py
+++ b/f1tenth_gym/envs/dynamic_models/kinematic.py
@@ -3,282 +3,210 @@
 
 from .utils import steering_constraint, accl_constraints
 
-
-# def vehicle_dynamics_ks(x: np.ndarray, u_init: np.ndarray, params: dict):
-#     """
-#     Single Track Kinematic Vehicle Dynamics.
-#     Follows https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 5
-
-#         Args:
-#             x (numpy.ndarray (5, )): vehicle state vector (x0, x1, x2, x3, x4)
-#                 x0: x position in global coordinates
-#                 x1: y position in global coordinates
-#                 x2: steering angle of front wheels
-#                 x3: velocity in x direction
-#                 x4: yaw angle
-#             u (numpy.ndarray (2, )): control input vector (u1, u2)
-#                 u1: steering angle velocity of front wheels
-#                 u2: longitudinal acceleration
-#             params (dict): dictionary containing the following parameters:
-#                 mu (float): friction coefficient
-#                 C_Sf (float): cornering stiffness of front wheels
-#                 C_Sr (float): cornering stiffness of rear wheels
-#                 lf (float): distance from center of gravity to front axle
-#                 lr (float): distance from center of gravity to rear axle
-#                 h (float): height of center of gravity
-#                 m (float): mass of vehicle
-#                 I (float): moment of inertia of vehicle, about Z axis
-#                 s_min (float): minimum steering angle
-#                 s_max (float): maximum steering angle
-#                 sv_min (float): minimum steering velocity
-#                 sv_max (float): maximum steering velocity
-#                 v_switch (float): velocity above which the acceleration is no longer able to create wheel slip
-#                 a_max (float): maximum allowed acceleration
-#                 v_min (float): minimum allowed velocity
-#                 v_max (float): maximum allowed velocity
-
-#         Returns:
-#             f (numpy.ndarray): right hand side of differential equations
-#     """
-#     # Controls
-#     X = x[0]
-#     Y = x[1]
-#     DELTA = x[2]
-#     V = x[3]
-#     PSI = x[4]
-#     # Raw Actions
-#     RAW_STEER_VEL = u_init[0]
-#     RAW_ACCL = u_init[1]
-#     # wheelbase
-#     lwb = params["lf"] + params["lr"]
-
-#     # constraints
-#     u = np.array(
-#         [
-#             steering_constraint(
-#                 DELTA,
-#                 RAW_STEER_VEL,
-#                 params["s_min"],
-#                 params["s_max"],
-#                 params["sv_min"],
-#                 params["sv_max"],
-#             ),
-#             accl_constraints(
-#                 V,
-#                 RAW_ACCL,
-#                 params["v_switch"],
-#                 params["a_max"],
-#                 params["v_min"],
-#                 params["v_max"],
-#             ),
-#         ]
-#     )
-#     # Corrected Actions
-#     STEER_VEL = u[0]
-#     ACCL = u[1]
-
-#     # system dynamics
-#     f = np.array(
-#         [
-#             V * np.cos(PSI),  # X_DOT
-#             V * np.sin(PSI),  # Y_DOT
-#             STEER_VEL,  # DELTA_DOT
-#             ACCL,  # V_DOT
-#             (V / lwb) * np.tan(DELTA),  # PSI_DOT
-#         ]
-#     )
-#     return f
-
-
-# def vehicle_dynamics_ks_cog(x: np.ndarray, u_init: np.ndarray, params: dict):
-#     """
-#     Single Track Kinematic Vehicle Dynamics.
-#     Follows https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 5
-
-#         Args:
-#             x (numpy.ndarray (5, )): vehicle state vector (x0, x1, x2, x3, x4)
-#                 x0: x position in global coordinates
-#                 x1: y position in global coordinates
-#                 x2: steering angle of front wheels
-#                 x3: velocity in x direction
-#                 x4: yaw angle
-#             u (numpy.ndarray (2, )): control input vector (u1, u2)
-#                 u1: steering angle velocity of front wheels
-#                 u2: longitudinal acceleration
-#             params (dict): dictionary containing the following parameters:
-#                 mu (float): friction coefficient
-#                 C_Sf (float): cornering stiffness of front wheels
-#                 C_Sr (float): cornering stiffness of rear wheels
-#                 lf (float): distance from center of gravity to front axle
-#                 lr (float): distance from center of gravity to rear axle
-#                 h (float): height of center of gravity
-#                 m (float): mass of vehicle
-#                 I (float): moment of inertia of vehicle, about Z axis
-#                 s_min (float): minimum steering angle
-#                 s_max (float): maximum steering angle
-#                 sv_min (float): minimum steering velocity
-#                 sv_max (float): maximum steering velocity
-#                 v_switch (float): velocity above which the acceleration is no longer able to create wheel slip
-#                 a_max (float): maximum allowed acceleration
-#                 v_min (float): minimum allowed velocity
-#                 v_max (float): maximum allowed velocity
-
-#         Returns:
-#             f (numpy.ndarray): right hand side of differential equations
-#     """
-#     # Controls
-#     X = x[0]
-#     Y = x[1]
-#     DELTA = x[2]
-#     V = x[3]
-#     PSI = x[4]
-#     # Raw Actions
-#     RAW_STEER_VEL = u_init[0]
-#     RAW_ACCL = u_init[1]
-#     # wheelbase
-#     lwb = params["lf"] + params["lr"]
-#     # constraints
-#     u = np.array(
-#         [
-#             steering_constraint(
-#                 DELTA,
-#                 RAW_STEER_VEL,
-#                 params["s_min"],
-#                 params["s_max"],
-#                 params["sv_min"],
-#                 params["sv_max"],
-#             ),
-#             accl_constraints(
-#                 V,
-#                 RAW_ACCL,
-#                 params["v_switch"],
-#                 params["a_max"],
-#                 params["v_min"],
-#                 params["v_max"],
-#             ),
-#         ]
-#     )
-#     # slip angle (beta) from vehicle kinematics
-#     beta = np.arctan(np.tan(x[2]) * params["lr"] / lwb)
-
-#     # system dynamics
-#     f = [
-#         V * np.cos(beta + PSI),
-#         V * np.sin(beta + PSI),
-#         u[0],
-#         u[1],
-#         V * np.cos(beta) * np.tan(DELTA) / lwb,
-#     ]
-
-#     return f
-
 @njit(cache=True)
-def vehicle_dynamics_ks(
-    x: np.ndarray,
-    u_init: np.ndarray,
-    mu: float,
-    C_Sf: float,
-    C_Sr: float,
-    lf: float,
-    lr: float,
-    h: float,
-    m: float,
-    I: float,
-    s_min: float,
-    s_max: float,
-    sv_min: float,
-    sv_max: float,
-    v_switch: float,
-    a_max: float,
-    v_min: float,
-    v_max: float,
-    width: float,
-    length: float
-) -> np.ndarray:
+def vehicle_dynamics_ks(x: np.ndarray, u_init: np.ndarray, params: np.ndarray) -> np.ndarray:
+    """
+    Single Track Kinematic Vehicle Dynamics.
+    Follows https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 5
+
+        Args:
+            x (numpy.ndarray (5, )): vehicle state vector (x0, x1, x2, x3, x4)
+                x0: x position in global coordinates
+                x1: y position in global coordinates
+                x2: steering angle of front wheels
+                x3: velocity in x direction
+                x4: yaw angle
+            u (numpy.ndarray (2, )): control input vector (u1, u2)
+                u1: steering angle velocity of front wheels
+                u2: longitudinal acceleration
+            params (dict): dictionary containing the following parameters:
+                mu (float): friction coefficient
+                C_Sf (float): cornering stiffness of front wheels
+                C_Sr (float): cornering stiffness of rear wheels
+                lf (float): distance from center of gravity to front axle
+                lr (float): distance from center of gravity to rear axle
+                h (float): height of center of gravity
+                m (float): mass of vehicle
+                I (float): moment of inertia of vehicle, about Z axis
+                s_min (float): minimum steering angle
+                s_max (float): maximum steering angle
+                sv_min (float): minimum steering velocity
+                sv_max (float): maximum steering velocity
+                v_switch (float): velocity above which the acceleration is no longer able to create wheel slip
+                a_max (float): maximum allowed acceleration
+                v_min (float): minimum allowed velocity
+                v_max (float): maximum allowed velocity
+
+        Returns:
+            f (numpy.ndarray): right hand side of differential equations
+    """
     # Controls
     X = x[0]
     Y = x[1]
     DELTA = x[2]
     V = x[3]
     PSI = x[4]
-
+    # Raw Actions
     RAW_STEER_VEL = u_init[0]
     RAW_ACCL = u_init[1]
-
+   
+    # mu = params[0]
+    # C_Sf = params[1]  # front tire cornering stiffness [N/rad]  CF
+    # C_Sr = params[2]  # rear tire cornering stiffness [N/rad]  CR
+    lf = params[3]  # distance from spring mass center of gravity to front axle [m]  LENA
+    lr = params[4]  # distance from spring mass center of gravity to rear axle [m]  LENB
+    # h = params[5]  # M_s center of gravity above ground [m]  HS
+    # m = params[6]  # vehicle mass [kg]  MASS
+    # I = params[7]  # moment of inertia for sprung mass in yaw [kg m^2]  IZZ
+    s_min = params[8]  # minimum steering angle [rad]
+    s_max = params[9]  # maximum steering angle [rad]
+    sv_min = params[10]  # minimum steering velocity [rad/s]
+    sv_max = params[11]  # maximum steering velocity [rad/s]
+    v_switch = params[12]  # switching velocity [m/s]
+    a_max = params[13]  # maximum absolute acceleration [m/s^2]
+    v_min = params[14]  # minimum velocity [m/s]
+    v_max = params[15]  # maximum velocity [m/s]
+    # wheelbase
     lwb = lf + lr
 
-    u = [
-        steering_constraint(DELTA, RAW_STEER_VEL, s_min, s_max, sv_min, sv_max),
-        accl_constraints(V, RAW_ACCL, v_switch, a_max, v_min, v_max)
-    ]
-
+    # constraints
+    u = np.array(
+        [
+            steering_constraint(
+                DELTA,
+                RAW_STEER_VEL,
+                s_min,
+                s_max,
+                sv_min,
+                sv_max,
+            ),
+            accl_constraints(
+                V,
+                RAW_ACCL,
+                v_switch,
+                a_max,
+                v_min,
+                v_max,
+            ),
+        ]
+    )
+    # Corrected Actions
     STEER_VEL = u[0]
     ACCL = u[1]
 
-    f = np.asarray([
-        V * np.cos(PSI),
-        V * np.sin(PSI),
-        STEER_VEL,
-        ACCL,
-        (V / lwb) * np.tan(DELTA),
-    ])
-    
+    # system dynamics
+    f = np.array(
+        [
+            V * np.cos(PSI),  # X_DOT
+            V * np.sin(PSI),  # Y_DOT
+            STEER_VEL,  # DELTA_DOT
+            ACCL,  # V_DOT
+            (V / lwb) * np.tan(DELTA),  # PSI_DOT
+        ]
+    )
     return f
 
 @njit(cache=True)
-def vehicle_dynamics_ks_cog(
-    x: np.ndarray,
-    u_init: np.ndarray,
-    mu: float,
-    C_Sf: float,
-    C_Sr: float,
-    lf: float,
-    lr: float,
-    h: float,
-    m: float,
-    I: float,
-    s_min: float,
-    s_max: float,
-    sv_min: float,
-    sv_max: float,
-    v_switch: float,
-    a_max: float,
-    v_min: float,
-    v_max: float,
-    width: float,
-    length: float
-) -> np.ndarray:
+def vehicle_dynamics_ks_cog(x: np.ndarray, u_init: np.ndarray, params: np.ndarray) -> np.ndarray:
+    """
+    Single Track Kinematic Vehicle Dynamics.
+    Follows https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 5
+
+        Args:
+            x (numpy.ndarray (5, )): vehicle state vector (x0, x1, x2, x3, x4)
+                x0: x position in global coordinates
+                x1: y position in global coordinates
+                x2: steering angle of front wheels
+                x3: velocity in x direction
+                x4: yaw angle
+            u (numpy.ndarray (2, )): control input vector (u1, u2)
+                u1: steering angle velocity of front wheels
+                u2: longitudinal acceleration
+            params (dict): dictionary containing the following parameters:
+                mu (float): friction coefficient
+                C_Sf (float): cornering stiffness of front wheels
+                C_Sr (float): cornering stiffness of rear wheels
+                lf (float): distance from center of gravity to front axle
+                lr (float): distance from center of gravity to rear axle
+                h (float): height of center of gravity
+                m (float): mass of vehicle
+                I (float): moment of inertia of vehicle, about Z axis
+                s_min (float): minimum steering angle
+                s_max (float): maximum steering angle
+                sv_min (float): minimum steering velocity
+                sv_max (float): maximum steering velocity
+                v_switch (float): velocity above which the acceleration is no longer able to create wheel slip
+                a_max (float): maximum allowed acceleration
+                v_min (float): minimum allowed velocity
+                v_max (float): maximum allowed velocity
+
+        Returns:
+            f (numpy.ndarray): right hand side of differential equations
+    """
     # Controls
     X = x[0]
     Y = x[1]
     DELTA = x[2]
     V = x[3]
     PSI = x[4]
-
+    # Raw Actions
     RAW_STEER_VEL = u_init[0]
     RAW_ACCL = u_init[1]
-
+    
+    # mu = params[0]
+    # C_Sf = params[1]  # front tire cornering stiffness [N/rad]  CF
+    # C_Sr = params[2]  # rear tire cornering stiffness [N/rad]  CR
+    lf = params[3]  # distance from spring mass center of gravity to front axle [m]  LENA
+    lr = params[4]  # distance from spring mass center of gravity to rear axle [m]  LENB
+    # h = params[5]  # M_s center of gravity above ground [m]  HS
+    # m = params[6]  # vehicle mass [kg]  MASS
+    # I = params[7]  # moment of inertia for sprung mass in yaw [kg m^2]  IZZ
+    s_min = params[8]  # minimum steering angle [rad]
+    s_max = params[9]  # maximum steering angle [rad]
+    sv_min = params[10]  # minimum steering velocity [rad/s]
+    sv_max = params[11]  # maximum steering velocity [rad/s]
+    v_switch = params[12]  # switching velocity [m/s]
+    a_max = params[13]  # maximum absolute acceleration [m/s^2]
+    v_min = params[14]  # minimum velocity [m/s]
+    v_max = params[15]  # maximum velocity [m/s]
+    # wheelbase
     lwb = lf + lr
-
-    u = [
-        steering_constraint(DELTA, RAW_STEER_VEL, s_min, s_max, sv_min, sv_max),
-        accl_constraints(V, RAW_ACCL, v_switch, a_max, v_min, v_max)
-    ]
-
-    beta = np.arctan(np.tan(DELTA) * lr / lwb)
-
-    f = np.asarray([
+    # constraints
+    u = np.array(
+        [
+            steering_constraint(
+                DELTA,
+                RAW_STEER_VEL,
+                s_min,
+                s_max,
+                sv_min,
+                sv_max,
+            ),
+            accl_constraints(
+                V,
+                RAW_ACCL,
+                v_switch,
+                a_max,
+                v_min,
+                v_max,
+            ),
+        ]
+    )
+    # slip angle (beta) from vehicle kinematics
+    beta = np.arctan(np.tan(x[2]) * lr / lwb)
+
+    # system dynamics
+    f = [
         V * np.cos(beta + PSI),
         V * np.sin(beta + PSI),
         u[0],
         u[1],
         V * np.cos(beta) * np.tan(DELTA) / lwb,
-    ])
+    ]
 
     return f
 
-
 @njit(cache=True)
 def get_standardized_state_ks(x: np.ndarray) -> np.ndarray:
-    """[X,Y,Steering_Angle,Speed,YAW,YAW_RATE,V_Y]"""
-    return np.asarray([x[0], x[1], x[2], x[3], x[4], 0.0, 0.0, 0.0])
+    """[X,Y,Steering_Angle,Speed,YAW,YAW_RATE,SPLIP_ANGLE]"""
+    return np.asarray([x[0], x[1], x[2], x[3], x[4], 0.0, 0.0])
diff --git a/f1tenth_gym/envs/dynamic_models/multi_body/__init__.py b/f1tenth_gym/envs/dynamic_models/multi_body/__init__.py
index 40d6db10..6d07b0e9 100644
--- a/f1tenth_gym/envs/dynamic_models/multi_body/__init__.py
+++ b/f1tenth_gym/envs/dynamic_models/multi_body/__init__.py
@@ -8,7 +8,7 @@
 from .multi_body import vehicle_dynamics_mb, get_standardized_state_mb
 
 
-def init_mb(init_state, params: dict) -> np.ndarray:
+def init_mb(init_state, params) -> np.ndarray:
     # init_MB - generates the initial state vector for the multi-body model
     #
     # Syntax:
@@ -32,24 +32,24 @@ def init_mb(init_state, params: dict) -> np.ndarray:
 
     ### Parameters
     ## steering constraints
-    s_min = params["s_min"]  # minimum steering angle [rad]
-    s_max = params["s_max"]  # maximum steering angle [rad]
+    s_min = params[8]   # minimum steering angle [rad]
+    s_max = params[9]   # maximum steering angle [rad]
     ## longitudinal constraints
-    v_min = params["v_min"]  # minimum velocity [m/s]
-    v_max = params["v_max"]  # minimum velocity [m/s]
+    v_min = params[14]  # minimum velocity [m/s]
+    v_max = params[15]  # maximum velocity [m/s]
     ## masses
-    m_s = params["m_s"]  # sprung mass [kg]  SMASS
-    m_uf = params["m_uf"]  # unsprung mass front [kg]  UMASSF
-    m_ur = params["m_ur"]  # unsprung mass rear [kg]  UMASSR
+    m_s = params[22]  # sprung mass [kg]
+    m_uf = params[23]  # front unsprung mass [kg]
+    m_ur = params[24]  # rear unsprung mass [kg]
     ## axes distances
-    lf = params["lf"]
+    lf = params[3]
     # distance from spring mass center of gravity to front axle [m]  LENA
-    lr = params["lr"]
+    lr = params[4]
     # distance from spring mass center of gravity to rear axle [m]  LENB
 
     ## geometric parameters
-    K_zt = params["K_zt"]  # vertical spring rate of tire [N/m]  TSPRINGR
-    R_w = params["R_w"]
+    K_zt = params[39]  # vertical spring rate of tire [N/m]  TSPRINGR
+    R_w = params[48]
     # effective wheel/tire radius  chosen as tire rolling radius RR  taken from ADAMS documentation [m]
     # create equivalent bicycle parameters
     g = 9.81  # [m/s^2]
diff --git a/f1tenth_gym/envs/dynamic_models/multi_body/multi_body.py b/f1tenth_gym/envs/dynamic_models/multi_body/multi_body.py
index a4ef6c8f..f6934c50 100644
--- a/f1tenth_gym/envs/dynamic_models/multi_body/multi_body.py
+++ b/f1tenth_gym/envs/dynamic_models/multi_body/multi_body.py
@@ -13,708 +13,9 @@
 from ..kinematic import vehicle_dynamics_ks_cog
 
 
-# def vehicle_dynamics_mb_new(x: np.ndarray, u_init: np.ndarray, params: dict):
-#     """
-#     vehicleDynamics_mb - multi-body vehicle dynamics based on the DoT (department of transportation) vehicle dynamics
-#     reference point: center of mass
-
-#     Syntax:
-#         f = vehicleDynamics_mb(x,u,p)
-
-#     Inputs:
-#         :param x: vehicle state vector
-#         :param uInit: vehicle input vector
-#         :param params: vehicle parameter vector
-
-#     Outputs:
-#         :return f: right-hand side of differential equations
-#     """
-
-#     # ------------- BEGIN CODE --------------
-
-#     # set gravity constant
-#     g = 9.81  # [m/s^2]
-
-#     # states
-#     # x0 = x-position in a global coordinate system
-#     # x1 = y-position in a global coordinate system
-#     # x2 = steering angle of front wheels
-#     # x3 = velocity in x-direction
-#     # x4 = yaw angle
-#     # x5 = yaw rate
-
-#     # x6 = roll angle
-#     # x7 = roll rate
-#     # x8 = pitch angle
-#     # x9 = pitch rate
-#     # x10 = velocity in y-direction
-#     # x11 = z-position
-#     # x12 = velocity in z-direction
-
-#     # x13 = roll angle front
-#     # x14 = roll rate front
-#     # x15 = velocity in y-direction front
-#     # x16 = z-position front
-#     # x17 = velocity in z-direction front
-
-#     # x18 = roll angle rear
-#     # x19 = roll rate rear
-#     # x20 = velocity in y-direction rear
-#     # x21 = z-position rear
-#     # x22 = velocity in z-direction rear
-
-#     # x23 = left front wheel angular speed
-#     # x24 = right front wheel angular speed
-#     # x25 = left rear wheel angular speed
-#     # x26 = right rear wheel angular speed
-
-#     # x27 = delta_y_f
-#     # x28 = delta_y_r
-
-#     # u0 = steering angle velocity of front wheels
-#     # u1 = acceleration
-
-#     u = np.zeros_like(u_init)
-
-#     # vehicle body dimensions
-#     length = params["length"]  # vehicle length [m]
-#     width = params["width"]  # vehicle width [m]
-
-#     # steering constraints
-#     # s_min = params["s_min"]  # minimum steering angle [rad]
-#     # s_max = params["s_max"]  # maximum steering angle [rad]
-#     # sv_min = params["sv_min"]  # minimum steering velocity [rad/s]
-#     # sv_max = params["sv_max"]  # maximum steering velocity [rad/s]
-
-#     # longitudinal constraints
-#     # v_min = params["v_min"]  # minimum velocity [m/s]
-#     # v_max = params["v_max"]  # minimum velocity [m/s]
-#     # v_switch = params["v_switch"]  # switching velocity [m/s]
-#     # a_max = params["a_max"]  # maximum absolute acceleration [m/s^2]
-
-#     # # masses
-#     # m = params["m"]  # vehicle mass [kg]  MASS
-#     # m_s = params["m_s"]  # sprung mass [kg]  SMASS
-#     # m_uf = params["m_uf"]  # unsprung mass front [kg]  UMASSF
-#     # m_ur = params["m_ur"]  # unsprung mass rear [kg]  UMASSR
-
-#     # # axes distances
-#     # lf = params["lf"]
-#     # # distance from spring mass center of gravity to front axle [m]  LENA
-#     # lr = params["lf"]
-#     # # distance from spring mass center of gravity to rear axle [m]  LENB
-
-#     # # moments of inertia of sprung mass
-#     # I_Phi_s = params["I_Phi_s"]
-#     # # moment of inertia for sprung mass in roll [kg m^2]  IXS
-#     # I_y_s = params["I_y_s"]  # moment of inertia for sprung mass in pitch [kg m^2]  IYS
-#     # I_z = params["I_z"]  # moment of inertia for sprung mass in yaw [kg m^2]  IZZ
-#     # I_xz_s = params["I_xz_s"]  # moment of inertia cross product [kg m^2]  IXZ
-
-#     # # suspension parameters
-#     # K_sf = params["K_sf"]  # suspension spring rate (front) [N/m]  KSF
-#     # K_sdf = params["K_sdf"]  # suspension damping rate (front) [N s/m]  KSDF
-#     # K_sr = params["K_sr"]  # suspension spring rate (rear) [N/m]  KSR
-#     # K_sdr = params["K_sdr"]  # suspension damping rate (rear) [N s/m]  KSDR
-
-#     # # geometric parameters
-#     # T_f = params["T_f"]  # track width front [m]  TRWF
-#     # T_r = params["T_r"]  # track width rear [m]  TRWB
-#     # K_ras = params["K_ras"]
-#     # # lateral spring rate at compliant compliant pin joint between M_s and M_u [N/m]  KRAS
-
-#     # K_tsf = params["K_tsf"]
-#     # # auxiliary torsion roll stiffness per axle (normally negative) (front) [N m/rad]  KTSF
-#     # K_tsr = params["K_tsr"]
-#     # # auxiliary torsion roll stiffness per axle (normally negative) (rear) [N m/rad]  KTSR
-#     # K_rad = params["K_rad"]
-#     # # damping rate at compliant compliant pin joint between M_s and M_u [N s/m]  KRADP
-#     # K_zt = params["K_zt"]  # vertical spring rate of tire [N/m]  TSPRINGR
-
-#     # h_cg = params["h_cg"]
-#     # # center of gravity height of total mass [m]  HCG (mainly required for conversion to other vehicle models)
-#     # h_raf = params["h_raf"]  # height of roll axis above ground (front) [m]  HRAF
-#     # h_rar = params["h_rar"]  # height of roll axis above ground (rear) [m]  HRAR
-
-#     # h_s = params["h_s"]  # M_s center of gravity above ground [m]  HS
-
-#     # I_uf = params["I_uf"]
-#     # # moment of inertia for unsprung mass about x-axis (front) [kg m^2]  IXUF
-#     # I_ur = params["I_ur"]
-#     # # moment of inertia for unsprung mass about x-axis (rear) [kg m^2]  IXUR
-#     # I_y_w = params["I_y_w"]
-#     # # wheel inertia, from internet forum for 235/65 R 17 [kg m^2]
-
-#     # K_lt = params["K_lt"]
-#     # # lateral compliance rate of tire, wheel, and suspension, per tire [m/N]  KLT
-#     # R_w = params["R_w"]
-#     # # effective wheel/tire radius  chosen as tire rolling radius RR  taken from ADAMS documentation [m]
-
-#     # # split of brake and engine torque
-#     # T_sb = params["T_sb"]
-#     # T_se = params["T_se"]
-
-#     # # suspension parameters
-#     # D_f = params["D_f"]  # [rad/m]  DF
-#     # D_r = params["D_r"]  # [rad/m]  DR
-#     # E_f = params["E_f"]  # [needs conversion if nonzero]  EF
-#     # E_r = params["E_r"]  # [needs conversion if nonzero]  ER
-
-#     KIN_THRESH = 0.5
-
-#     # consider steering and acceleration constraints - outside of the integration
-#     u[0] = steering_constraint(
-#         x[2],
-#         u_init[0],
-#         params["s_min"],
-#         params["s_max"],
-#         params["sv_min"],
-#         params["sv_max"],
-#     )
-#     u[1] = accl_constraints(
-#         x[3],
-#         u_init[1],
-#         params["v_switch"],
-#         params["a_max"],
-#         params["v_min"],
-#         params["v_max"],
-#     )
-
-#     if abs(x[3]) < KIN_THRESH:
-#         beta = 0.0
-#     else:
-#         beta = np.arctan(x[10] / x[3])
-#     vel = np.sqrt(x[3] ** 2 + x[10] ** 2)
-
-#     # vertical tire forces
-#     F_z_LF = (
-#         x[16]
-#         + params["R_w"] * (np.cos(x[13]) - 1)
-#         - 0.5 * params["T_f"] * np.sin(x[13])
-#     ) * params["K_zt"]
-#     F_z_RF = (
-#         x[16]
-#         + params["R_w"] * (np.cos(x[13]) - 1)
-#         + 0.5 * params["T_f"] * np.sin(x[13])
-#     ) * params["K_zt"]
-#     F_z_LR = (
-#         x[21]
-#         + params["R_w"] * (np.cos(x[18]) - 1)
-#         - 0.5 * params["T_r"] * np.sin(x[18])
-#     ) * params["K_zt"]
-#     F_z_RR = (
-#         x[21]
-#         + params["R_w"] * (np.cos(x[18]) - 1)
-#         + 0.5 * params["T_r"] * np.sin(x[18])
-#     ) * params["K_zt"]
-
-#     # obtain individual tire speeds
-#     u_w_lf = (x[3] + 0.5 * params["T_f"] * x[5]) * np.cos(x[2]) + (
-#         x[10] + params["lf"] * x[5]
-#     ) * np.sin(x[2])
-#     u_w_rf = (x[3] - 0.5 * params["T_f"] * x[5]) * np.cos(x[2]) + (
-#         x[10] + params["lf"] * x[5]
-#     ) * np.sin(x[2])
-#     u_w_lr = x[3] + 0.5 * params["T_r"] * x[5]
-#     u_w_rr = x[3] - 0.5 * params["T_r"] * x[5]
-
-#     # negative wheel spin forbidden
-#     if u_w_lf < 0.0:
-#         u_w_lf *= 0
-
-#     if u_w_rf < 0.0:
-#         u_w_rf *= 0
-
-#     if u_w_lr < 0.0:
-#         u_w_lr *= 0
-
-#     if u_w_rr < 0.0:
-#         u_w_rr *= 0
-#     # compute longitudinal slip
-#     # switch to kinematic model for small velocities
-#     if abs(x[3]) < KIN_THRESH:
-#         s_lf = 0.0
-#         s_rf = 0.0
-#         s_lr = 0.0
-#         s_rr = 0.0
-#     else:
-#         s_lf = 1 - params["R_w"] * x[23] / u_w_lf
-#         s_rf = 1 - params["R_w"] * x[24] / u_w_rf
-#         s_lr = 1 - params["R_w"] * x[25] / u_w_lr
-#         s_rr = 1 - params["R_w"] * x[26] / u_w_rr
-
-#     # lateral slip angles
-#     # switch to kinematic model for small velocities
-#     if abs(x[3]) < KIN_THRESH:
-#         alpha_LF = 0.0
-#         alpha_RF = 0.0
-#         alpha_LR = 0.0
-#         alpha_RR = 0.0
-#     else:
-#         alpha_LF = (
-#             np.arctan(
-#                 (x[10] + params["lf"] * x[5] - x[14] * (params["R_w"] - x[16]))
-#                 / (x[3] + 0.5 * params["T_f"] * x[5])
-#             )
-#             - x[2]
-#         )
-#         alpha_RF = (
-#             np.arctan(
-#                 (x[10] + params["lf"] * x[5] - x[14] * (params["R_w"] - x[16]))
-#                 / (x[3] - 0.5 * params["T_f"] * x[5])
-#             )
-#             - x[2]
-#         )
-#         alpha_LR = np.arctan(
-#             (x[10] - params["lr"] * x[5] - x[19] * (params["R_w"] - x[21]))
-#             / (x[3] + 0.5 * params["T_r"] * x[5])
-#         )
-#         alpha_RR = np.arctan(
-#             (x[10] - params["lr"] * x[5] - x[19] * (params["R_w"] - x[21]))
-#             / (x[3] - 0.5 * params["T_r"] * x[5])
-#         )
-
-#     # auxiliary suspension movement
-#     z_SLF = (
-#         (params["h_s"] - params["R_w"] + x[16] - x[11]) / np.cos(x[6])
-#         - params["h_s"]
-#         + params["R_w"]
-#         + params["lf"] * x[8]
-#         + 0.5 * (x[6] - x[13]) * params["T_f"]
-#     )
-#     z_SRF = (
-#         (params["h_s"] - params["R_w"] + x[16] - x[11]) / np.cos(x[6])
-#         - params["h_s"]
-#         + params["R_w"]
-#         + params["lf"] * x[8]
-#         - 0.5 * (x[6] - x[13]) * params["T_f"]
-#     )
-#     z_SLR = (
-#         (params["h_s"] - params["R_w"] + x[21] - x[11]) / np.cos(x[6])
-#         - params["h_s"]
-#         + params["R_w"]
-#         - params["lr"] * x[8]
-#         + 0.5 * (x[6] - x[18]) * params["T_r"]
-#     )
-#     z_SRR = (
-#         (params["h_s"] - params["R_w"] + x[21] - x[11]) / np.cos(x[6])
-#         - params["h_s"]
-#         + params["R_w"]
-#         - params["lr"] * x[8]
-#         - 0.5 * (x[6] - x[18]) * params["T_r"]
-#     )
-
-#     dz_SLF = x[17] - x[12] + params["lf"] * x[9] + 0.5 * (x[7] - x[14]) * params["T_f"]
-#     dz_SRF = x[17] - x[12] + params["lf"] * x[9] - 0.5 * (x[7] - x[14]) * params["T_f"]
-#     dz_SLR = x[22] - x[12] - params["lr"] * x[9] + 0.5 * (x[7] - x[19]) * params["T_r"]
-#     dz_SRR = x[22] - x[12] - params["lr"] * x[9] - 0.5 * (x[7] - x[19]) * params["T_r"]
-
-#     # camber angles
-#     gamma_LF = x[6] + params["D_f"] * z_SLF + params["E_f"] * (z_SLF) ** 2
-#     gamma_RF = x[6] - params["D_f"] * z_SRF - params["E_f"] * (z_SRF) ** 2
-#     gamma_LR = x[6] + params["D_r"] * z_SLR + params["E_r"] * (z_SLR) ** 2
-#     gamma_RR = x[6] - params["D_r"] * z_SRR - params["E_r"] * (z_SRR) ** 2
-
-#     # compute longitudinal tire forces using the magic formula for pure slip
-#     F0_x_LF = formula_longitudinal(s_lf, gamma_LF, F_z_LF, params)
-#     F0_x_RF = formula_longitudinal(s_rf, gamma_RF, F_z_RF, params)
-#     F0_x_LR = formula_longitudinal(s_lr, gamma_LR, F_z_LR, params)
-#     F0_x_RR = formula_longitudinal(s_rr, gamma_RR, F_z_RR, params)
-
-#     # compute lateral tire forces using the magic formula for pure slip
-#     res = formula_lateral(alpha_LF, gamma_LF, F_z_LF, params)
-#     F0_y_LF = res[0]
-#     mu_y_LF = res[1]
-#     res = formula_lateral(alpha_RF, gamma_RF, F_z_RF, params)
-#     F0_y_RF = res[0]
-#     mu_y_RF = res[1]
-#     res = formula_lateral(alpha_LR, gamma_LR, F_z_LR, params)
-#     F0_y_LR = res[0]
-#     mu_y_LR = res[1]
-#     res = formula_lateral(alpha_RR, gamma_RR, F_z_RR, params)
-#     F0_y_RR = res[0]
-#     mu_y_RR = res[1]
-
-#     # compute longitudinal tire forces using the magic formula for combined slip
-#     F_x_LF = formula_longitudinal_comb(s_lf, alpha_LF, F0_x_LF, params)
-#     F_x_RF = formula_longitudinal_comb(s_rf, alpha_RF, F0_x_RF, params)
-#     F_x_LR = formula_longitudinal_comb(s_lr, alpha_LR, F0_x_LR, params)
-#     F_x_RR = formula_longitudinal_comb(s_rr, alpha_RR, F0_x_RR, params)
-
-#     # compute lateral tire forces using the magic formula for combined slip
-#     F_y_LF = formula_lateral_comb(
-#         s_lf, alpha_LF, gamma_LF, mu_y_LF, F_z_LF, F0_y_LF, params
-#     )
-#     F_y_RF = formula_lateral_comb(
-#         s_rf, alpha_RF, gamma_RF, mu_y_RF, F_z_RF, F0_y_RF, params
-#     )
-#     F_y_LR = formula_lateral_comb(
-#         s_lr, alpha_LR, gamma_LR, mu_y_LR, F_z_LR, F0_y_LR, params
-#     )
-#     F_y_RR = formula_lateral_comb(
-#         s_rr, alpha_RR, gamma_RR, mu_y_RR, F_z_RR, F0_y_RR, params
-#     )
-
-#     # auxiliary movements for compliant joint equations
-#     delta_z_f = params["h_s"] - params["R_w"] + x[16] - x[11]
-#     delta_z_r = params["h_s"] - params["R_w"] + x[21] - x[11]
-
-#     delta_phi_f = x[6] - x[13]
-#     delta_phi_r = x[6] - x[18]
-
-#     dot_delta_phi_f = x[7] - x[14]
-#     dot_delta_phi_r = x[7] - x[19]
-
-#     dot_delta_z_f = x[17] - x[12]
-#     dot_delta_z_r = x[22] - x[12]
-
-#     dot_delta_y_f = x[10] + params["lf"] * x[5] - x[15]
-#     dot_delta_y_r = x[10] - params["lr"] * x[5] - x[20]
-
-#     delta_f = (
-#         delta_z_f * np.sin(x[6])
-#         - x[27] * np.cos(x[6])
-#         - (params["h_raf"] - params["R_w"]) * np.sin(delta_phi_f)
-#     )
-#     delta_r = (
-#         delta_z_r * np.sin(x[6])
-#         - x[28] * np.cos(x[6])
-#         - (params["h_rar"] - params["R_w"]) * np.sin(delta_phi_r)
-#     )
-
-#     dot_delta_f = (
-#         (delta_z_f * np.cos(x[6]) + x[27] * np.sin(x[6])) * x[7]
-#         + dot_delta_z_f * np.sin(x[6])
-#         - dot_delta_y_f * np.cos(x[6])
-#         - (params["h_raf"] - params["R_w"]) * np.cos(delta_phi_f) * dot_delta_phi_f
-#     )
-#     dot_delta_r = (
-#         (delta_z_r * np.cos(x[6]) + x[28] * np.sin(x[6])) * x[7]
-#         + dot_delta_z_r * np.sin(x[6])
-#         - dot_delta_y_r * np.cos(x[6])
-#         - (params["h_rar"] - params["R_w"]) * np.cos(delta_phi_r) * dot_delta_phi_r
-#     )
-
-#     # compliant joint forces
-#     F_RAF = delta_f * params["K_ras"] + dot_delta_f * params["K_rad"]
-#     F_RAR = delta_r * params["K_ras"] + dot_delta_r * params["K_rad"]
-
-#     # auxiliary suspension forces (bump stop neglected  squat/lift forces neglected)
-#     F_SLF = (
-#         params["m_s"] * g * params["lr"] / (2 * (params["lf"] + params["lr"]))
-#         - z_SLF * params["K_sf"]
-#         - dz_SLF * params["K_sdf"]
-#         + (x[6] - x[13]) * params["K_tsf"] / params["T_f"]
-#     )
-
-#     F_SRF = (
-#         params["m_s"] * g * params["lr"] / (2 * (params["lf"] + params["lr"]))
-#         - z_SRF * params["K_sf"]
-#         - dz_SRF * params["K_sdf"]
-#         - (x[6] - x[13]) * params["K_tsf"] / params["T_f"]
-#     )
-
-#     F_SLR = (
-#         params["m_s"] * g * params["lf"] / (2 * (params["lf"] + params["lr"]))
-#         - z_SLR * params["K_sr"]
-#         - dz_SLR * params["K_sdr"]
-#         + (x[6] - x[18]) * params["K_tsr"] / params["T_r"]
-#     )
-
-#     F_SRR = (
-#         params["m_s"] * g * params["lf"] / (2 * (params["lf"] + params["lr"]))
-#         - z_SRR * params["K_sr"]
-#         - dz_SRR * params["K_sdr"]
-#         - (x[6] - x[18]) * params["K_tsr"] / params["T_r"]
-#     )
-
-#     # auxiliary variables sprung mass
-#     sumX = (
-#         F_x_LR
-#         + F_x_RR
-#         + (F_x_LF + F_x_RF) * np.cos(x[2])
-#         - (F_y_LF + F_y_RF) * np.sin(x[2])
-#     )
-
-#     sumN = (
-#         (F_y_LF + F_y_RF) * params["lf"] * np.cos(x[2])
-#         + (F_x_LF + F_x_RF) * params["lf"] * np.sin(x[2])
-#         + (F_y_RF - F_y_LF) * 0.5 * params["T_f"] * np.sin(x[2])
-#         + (F_x_LF - F_x_RF) * 0.5 * params["T_f"] * np.cos(x[2])
-#         + (F_x_LR - F_x_RR) * 0.5 * params["T_r"]
-#         - (F_y_LR + F_y_RR) * params["lr"]
-#     )
-
-#     sumY_s = (F_RAF + F_RAR) * np.cos(x[6]) + (F_SLF + F_SLR + F_SRF + F_SRR) * np.sin(
-#         x[6]
-#     )
-
-#     sumL = (
-#         0.5 * F_SLF * params["T_f"]
-#         + 0.5 * F_SLR * params["T_r"]
-#         - 0.5 * F_SRF * params["T_f"]
-#         - 0.5 * F_SRR * params["T_r"]
-#         - F_RAF
-#         / np.cos(x[6])
-#         * (
-#             params["h_s"]
-#             - x[11]
-#             - params["R_w"]
-#             + x[16]
-#             - (params["h_raf"] - params["R_w"]) * np.cos(x[13])
-#         )
-#         - F_RAR
-#         / np.cos(x[6])
-#         * (
-#             params["h_s"]
-#             - x[11]
-#             - params["R_w"]
-#             + x[21]
-#             - (params["h_rar"] - params["R_w"]) * np.cos(x[18])
-#         )
-#     )
-
-#     sumZ_s = (F_SLF + F_SLR + F_SRF + F_SRR) * np.cos(x[6]) - (F_RAF + F_RAR) * np.sin(
-#         x[6]
-#     )
-
-#     sumM_s = (
-#         params["lf"] * (F_SLF + F_SRF)
-#         - params["lr"] * (F_SLR + F_SRR)
-#         + (
-#             (F_x_LF + F_x_RF) * np.cos(x[2])
-#             - (F_y_LF + F_y_RF) * np.sin(x[2])
-#             + F_x_LR
-#             + F_x_RR
-#         )
-#         * (params["h_s"] - x[11])
-#     )
-
-#     # auxiliary variables unsprung mass
-#     sumL_uf = (
-#         0.5 * F_SRF * params["T_f"]
-#         - 0.5 * F_SLF * params["T_f"]
-#         - F_RAF * (params["h_raf"] - params["R_w"])
-#         + F_z_LF
-#         * (
-#             params["R_w"] * np.sin(x[13])
-#             + 0.5 * params["T_f"] * np.cos(x[13])
-#             - params["K_lt"] * F_y_LF
-#         )
-#         - F_z_RF
-#         * (
-#             -params["R_w"] * np.sin(x[13])
-#             + 0.5 * params["T_f"] * np.cos(x[13])
-#             + params["K_lt"] * F_y_RF
-#         )
-#         - ((F_y_LF + F_y_RF) * np.cos(x[2]) + (F_x_LF + F_x_RF) * np.sin(x[2]))
-#         * (params["R_w"] - x[16])
-#     )
-
-#     sumL_ur = (
-#         0.5 * F_SRR * params["T_r"]
-#         - 0.5 * F_SLR * params["T_r"]
-#         - F_RAR * (params["h_rar"] - params["R_w"])
-#         + F_z_LR
-#         * (
-#             params["R_w"] * np.sin(x[18])
-#             + 0.5 * params["T_r"] * np.cos(x[18])
-#             - params["K_lt"] * F_y_LR
-#         )
-#         - F_z_RR
-#         * (
-#             -params["R_w"] * np.sin(x[18])
-#             + 0.5 * params["T_r"] * np.cos(x[18])
-#             + params["K_lt"] * F_y_RR
-#         )
-#         - (F_y_LR + F_y_RR) * (params["R_w"] - x[21])
-#     )
-
-#     sumZ_uf = F_z_LF + F_z_RF + F_RAF * np.sin(x[6]) - (F_SLF + F_SRF) * np.cos(x[6])
-
-#     sumZ_ur = F_z_LR + F_z_RR + F_RAR * np.sin(x[6]) - (F_SLR + F_SRR) * np.cos(x[6])
-
-#     sumY_uf = (
-#         (F_y_LF + F_y_RF) * np.cos(x[2])
-#         + (F_x_LF + F_x_RF) * np.sin(x[2])
-#         - F_RAF * np.cos(x[6])
-#         - (F_SLF + F_SRF) * np.sin(x[6])
-#     )
-
-#     sumY_ur = (F_y_LR + F_y_RR) - F_RAR * np.cos(x[6]) - (F_SLR + F_SRR) * np.sin(x[6])
-
-#     # dynamics common with single-track model
-#     f = np.zeros(29)  # init 'right hand side'
-#     # switch to kinematic model for small velocities
-#     if abs(x[3]) < KIN_THRESH:
-#         # wheelbase
-#         # lwb = lf + lr
-
-#         # system dynamics
-#         # x_ks = [x[0],  x[1],  x[2],  x[3],  x[4]]
-#         # f_ks = vehicle_dynamics_ks(x_ks, u, p)
-#         # f.extend(f_ks)
-#         # f.append(u[1]*lwb*np.tan(x[2]) + x[3]/(lwb*np.cos(x[2])**2)*u[0])
-
-#         # Use kinematic model with reference point at center of mass
-#         # wheelbase
-#         lwb = params["lf"] + params["lr"]
-#         # system dynamics
-#         x_ks = [x[0], x[1], x[2], x[3], x[4]]
-#         # kinematic model
-#         f_ks = vehicle_dynamics_ks_cog(np.array(x_ks), u, params['mu'],
-#                             params['C_Sf'],
-#                             params['C_Sr'],
-#                             params['lf'],
-#                             params['lr'],
-#                             params['h'],
-#                             params['m'],
-#                             params['I'],
-#                             params['s_min'],
-#                             params['s_max'],
-#                             params['sv_min'],
-#                             params['sv_max'],
-#                             params['v_switch'],
-#                             params['a_max'],
-#                             params['v_min'],
-#                             params['v_max'],
-#                             params['width'],
-#                             params['length'])
-#         f[0:5] = np.array([f_ks[0], f_ks[1], f_ks[2], f_ks[3], f_ks[4]])
-#         # derivative of slip angle and yaw rate
-#         d_beta = (params["lr"] * u[0]) / (
-#             lwb
-#             * np.cos(x[2]) ** 2
-#             * (1 + (np.tan(x[2]) ** 2 * params["lr"] / lwb) ** 2)
-#         )
-#         dd_psi = (
-#             1
-#             / lwb
-#             * (
-#                 u[1] * np.cos(x[6]) * np.tan(x[2])
-#                 - x[3] * np.sin(x[6]) * d_beta * np.tan(x[2])
-#                 + x[3] * np.cos(x[6]) * u[0] / np.cos(x[2]) ** 2
-#             )
-#         )
-#         f[5] = dd_psi
-
-#     else:
-#         f[0] = np.cos(beta + x[4]) * vel
-#         f[1] = np.sin(beta + x[4]) * vel
-#         f[2] = u[0]
-#         f[3] = 1 / params["m"] * sumX + x[5] * x[10]
-#         f[4] = x[5]
-#         f[5] = (
-#             1
-#             / (params["I_z"] - (params["I_xz_s"]) ** 2 / params["I_Phi_s"])
-#             * (sumN + params["I_xz_s"] / params["I_Phi_s"] * sumL)
-#         )
-
-#     # remaining sprung mass dynamics
-#     f[6] = x[7]
-#     f[7] = (
-#         1
-#         / (params["I_Phi_s"] - (params["I_xz_s"]) ** 2 / params["I_z"])
-#         * (params["I_xz_s"] / params["I_z"] * sumN + sumL)
-#     )
-#     f[8] = x[9]
-#     f[9] = 1 / params["I_y_s"] * sumM_s
-#     f[10] = 1 / params["m_s"] * sumY_s - x[5] * x[3]
-#     f[11] = x[12]
-#     f[12] = g - 1 / params["m_s"] * sumZ_s
-
-#     # unsprung mass dynamics (front)
-#     f[13] = x[14]
-#     f[14] = 1 / params["I_uf"] * sumL_uf
-#     f[15] = 1 / params["m_uf"] * sumY_uf - x[5] * x[3]
-#     f[16] = x[17]
-#     f[17] = g - 1 / params["m_uf"] * sumZ_uf
-
-#     # unsprung mass dynamics (rear)
-#     f[18] = x[19]
-#     f[19] = 1 / params["I_ur"] * sumL_ur
-#     f[20] = 1 / params["m_ur"] * sumY_ur - x[5] * x[3]
-#     f[21] = x[22]
-#     f[22] = g - 1 / params["m_ur"] * sumZ_ur
-
-#     # convert acceleration input to brake and engine torque
-#     if u[1] > 0:
-#         T_B = 0.0
-#         T_E = params["m"] * params["R_w"] * u[1]
-#     else:
-#         T_B = params["m"] * params["R_w"] * u[1]
-#         T_E = 0.0
-
-#     # wheel dynamics  (T  new parameter for torque splitting)
-#     f[23] = (
-#         1
-#         / params["I_y_w"]
-#         * (
-#             -params["R_w"] * F_x_LF
-#             + 0.5 * params["T_sb"] * T_B
-#             + 0.5 * params["T_se"] * T_E
-#         )
-#     )
-#     f[24] = (
-#         1
-#         / params["I_y_w"]
-#         * (
-#             -params["R_w"] * F_x_RF
-#             + 0.5 * params["T_sb"] * T_B
-#             + 0.5 * params["T_se"] * T_E
-#         )
-#     )
-#     f[25] = (
-#         1
-#         / params["I_y_w"]
-#         * (
-#             -params["R_w"] * F_x_LR
-#             + 0.5 * (1 - params["T_sb"]) * T_B
-#             + 0.5 * (1 - params["T_se"]) * T_E
-#         )
-#     )
-#     f[26] = (
-#         1
-#         / params["I_y_w"]
-#         * (
-#             -params["R_w"] * F_x_RR
-#             + 0.5 * (1 - params["T_sb"]) * T_B
-#             + 0.5 * (1 - params["T_se"]) * T_E
-#         )
-#     )
-
-#     # negative wheel spin forbidden
-#     for iState in range(23, 27):
-#         if x[iState] < 0.0:
-#             x[iState] = 0.0
-#             f[iState] = 0.0
-
-#     # compliant joint equations
-#     f[27] = dot_delta_y_f
-#     f[28] = dot_delta_y_r
-
-#     return f
-sequential_param_keys = ['length', 'width', 's_min', 's_max', 'sv_min', 
-                         'sv_max', 'v_min', 'v_max', 'v_switch', 'a_max', 
-                         'm', 'm_s', 'm_uf', 'm_ur', 'lf', 'lr', 'I_Phi_s', 
-                         'I_y_s', 'I_z', 'I_xz_s', 'K_sf', 'K_sdf', 'K_sr', 
-                         'K_sdr', 'T_f', 'T_r', 'K_ras', 'K_tsf', 'K_tsr', 
-                         'K_rad', 'K_zt', 'h_cg', 'h_raf', 'h_rar', 'h_s', 
-                         'I_uf', 'I_ur', 'I_y_w', 'K_lt', 'R_w', 'T_sb', 
-                         'T_se', 'D_f', 'D_r', 'E_f', 'E_r', 'tire_p_cx1', 
-                         'tire_p_dx1', 'tire_p_dx3', 'tire_p_ex1', 'tire_p_kx1', 
-                         'tire_p_hx1', 'tire_p_vx1', 'tire_r_bx1', 'tire_r_bx2', 
-                         'tire_r_cx1', 'tire_r_ex1', 'tire_r_hx1', 'tire_p_cy1', 
-                         'tire_p_dy1', 'tire_p_dy3', 'tire_p_ey1', 'tire_p_ky1', 
-                         'tire_p_hy1', 'tire_p_hy3', 'tire_p_vy1', 'tire_p_vy3', 
-                         'tire_r_by1', 'tire_r_by2', 'tire_r_by3', 'tire_r_cy1', 
-                         'tire_r_ey1', 'tire_r_hy1', 'tire_r_vy1', 'tire_r_vy3', 
-                         'tire_r_vy4', 'tire_r_vy5', 'tire_r_vy6']
-
-@njit(cache=True)
-def vehicle_dynamics_mb(x, u_init, params):
+def vehicle_dynamics_mb(x: np.ndarray, u_init: np.ndarray, params: np.ndarray) -> np.ndarray:
     """
-    vehicleDynamics_mb - multi-body vehicle dynamics based on the DOT (department of transportation) vehicle dynamics
+    vehicleDynamics_mb - multi-body vehicle dynamics based on the DoT (department of transportation) vehicle dynamics
     reference point: center of mass
 
     Syntax:
@@ -727,214 +28,298 @@ def vehicle_dynamics_mb(x, u_init, params):
 
     Outputs:
         :return f: right-hand side of differential equations
-
-    Author: Matthias Althoff
-    Written: 05-January-2017
-    Last update: 17-December-2017
-    Last revision: ---
     """
-    KIN_THRESH = 0.5
-    use_kinematic = abs(x[3]) < KIN_THRESH
-    #------------- BEGIN CODE --------------
+
+    # ------------- BEGIN CODE --------------
 
     # set gravity constant
-    g = 9.81  #[m/s^2]
-
-    #states
-    #x1 = x-position in a global coordinate system
-    #x2 = y-position in a global coordinate system
-    #x3 = steering angle of front wheels
-    #x4 = velocity in x-direction
-    #x5 = yaw angle
-    #x6 = yaw rate
-
-    #x7 = roll angle
-    #x8 = roll rate
-    #x9 = pitch angle
-    #x10 = pitch rate
-    #x11 = velocity in y-direction
-    #x12 = z-position
-    #x13 = velocity in z-direction
-
-    #x14 = roll angle front
-    #x15 = roll rate front
-    #x16 = velocity in y-direction front
-    #x17 = z-position front
-    #x18 = velocity in z-direction front
-
-    #x19 = roll angle rear
-    #x20 = roll rate rear
-    #x21 = velocity in y-direction rear
-    #x22 = z-position rear
-    #x23 = velocity in z-direction rear
-
-    #x24 = left front wheel angular speed
-    #x25 = right front wheel angular speed
-    #x26 = left rear wheel angular speed
-    #x27 = right rear wheel angular speed
-
-    #x28 = delta_y_f
-    #x29 = delta_y_r
-
-    #u1 = steering angle velocity of front wheels
-    #u2 = acceleration
-
-    # vehicle body dimensions
-    length = params[0]  # vehicle length [m]
-    width = params[1]  # vehicle width [m]
-
-    # steering constraints
-    s_min = params[2]  # minimum steering angle [rad]
-    s_max = params[3]  # maximum steering angle [rad]
-    sv_min = params[4] # minimum steering velocity [rad/s]
-    sv_max = params[5] # maximum steering velocity [rad/s]
-
-    # longitudinal constraints
-    v_min = params[6]  # minimum velocity [m/s]
-    v_max = params[7] # minimum velocity [m/s]
-    v_switch = params[8]  # switching velocity [m/s]
-    a_max = params[9] # maximum absolute acceleration [m/s^2]
-
-    # masses
-    m = params[10] # vehicle mass [kg]  MASS
-    m_s = params[11] # sprung mass [kg]  SMASS
-    m_uf = params[12] # unsprung mass front [kg]  UMASSF
-    m_ur = params[13] # unsprung mass rear [kg]  UMASSR
-
-    # axes distances
-    lf = params[14] # distance from spring mass center of gravity to front axle [m]  LENA
-    lr = params[15]  # distance from spring mass center of gravity to rear axle [m]  LENB
-
-    # moments of inertia of sprung mass
-    I_Phi_s = params[16]  # moment of inertia for sprung mass in roll [kg m^2]  IXS
-    I_y_s = params[17]  # moment of inertia for sprung mass in pitch [kg m^2]  IYS
-    I_z = params[18]  # moment of inertia for sprung mass in yaw [kg m^2]  IZZ
-    I_xz_s = params[19]  # moment of inertia cross product [kg m^2]  IXZ
-
-    # suspension parameters
-    K_sf = params[20]  # suspension spring rate (front) [N/m]  KSF
-    K_sdf = params[21]  # suspension damping rate (front) [N s/m]  KSDF
-    K_sr = params[22]  # suspension spring rate (rear) [N/m]  KSR
-    K_sdr = params[23]  # suspension damping rate (rear) [N s/m]  KSDR
-
-    # geometric parameters
-    T_f = params[24]   # track width front [m]  TRWF
-    T_r = params[25]   # track width rear [m]  TRWB
-    K_ras = params[26] # lateral spring rate at compliant compliant pin joint between M_s and M_u [N/m]  KRAS
-
-    K_tsf = params[27]   # auxiliary torsion roll stiffness per axle (normally negative) (front) [N m/rad]  KTSF
-    K_tsr = params[28] # auxiliary torsion roll stiffness per axle (normally negative) (rear) [N m/rad]  KTSR
-    K_rad = params[29] # damping rate at compliant compliant pin joint between M_s and M_u [N s/m]  KRADP
-    K_zt = params[30] # vertical spring rate of tire [N/m]  TSPRINGR
-
-    h_cg = params[31]   # center of gravity height of total mass [m]  HCG (mainly required for conversion to other vehicle models)
-    h_raf = params[32] # height of roll axis above ground (front) [m]  HRAF
-    h_rar = params[33] # height of roll axis above ground (rear) [m]  HRAR
-
-    h_s = params[34]   # M_s center of gravity above ground [m]  HS
-
-    I_uf = params[35] # moment of inertia for unsprung mass about x-axis (front) [kg m^2]  IXUF
-    I_ur = params[36] # moment of inertia for unsprung mass about x-axis (rear) [kg m^2]  IXUR
-    I_y_w = params[37]  # wheel inertia, from internet forum for 235/65 R 17 [kg m^2]
-
-    K_lt = params[38]  # lateral compliance rate of tire, wheel, and suspension, per tire [m/N]  KLT
-    R_w = params[39]  # effective wheel/tire radius  chosen as tire rolling radius RR  taken from ADAMS documentation [m]
-
-    # split of brake and engine torque
-    T_sb = params[40]
-    T_se = params[41]
-
-    # suspension parameters
-    D_f = params[42]  # [rad/m]  DF
-    D_r = params[43]  # [rad/m]  DR
-    E_f = params[44]  # [needs conversion if nonzero]  EF
-    E_r = params[45]  # [needs conversion if nonzero]  ER
+    g = 9.81  # [m/s^2]
+
+    # states
+    # x0 = x-position in a global coordinate system
+    # x1 = y-position in a global coordinate system
+    # x2 = steering angle of front wheels
+    # x3 = velocity in x-direction
+    # x4 = yaw angle
+    # x5 = yaw rate
+
+    # x6 = roll angle
+    # x7 = roll rate
+    # x8 = pitch angle
+    # x9 = pitch rate
+    # x10 = velocity in y-direction
+    # x11 = z-position
+    # x12 = velocity in z-direction
+
+    # x13 = roll angle front
+    # x14 = roll rate front
+    # x15 = velocity in y-direction front
+    # x16 = z-position front
+    # x17 = velocity in z-direction front
+
+    # x18 = roll angle rear
+    # x19 = roll rate rear
+    # x20 = velocity in y-direction rear
+    # x21 = z-position rear
+    # x22 = velocity in z-direction rear
+
+    # x23 = left front wheel angular speed
+    # x24 = right front wheel angular speed
+    # x25 = left rear wheel angular speed
+    # x26 = right rear wheel angular speed
+
+    # x27 = delta_y_f
+    # x28 = delta_y_r
+
+    # u0 = steering angle velocity of front wheels
+    # u1 = acceleration
+
+    u = np.zeros_like(u_init)
+
+    mu = params[0]  # lateral friction coefficient
+    C_Sf = params[1]  # front tire cornering stiffness [N/rad]
+    C_Sr = params[2]  # rear tire cornering stiffness [N/rad]
+    lf = params[3]  # distance from CoG to front axle [m]
+    lr = params[4]  # distance from CoG to rear axle [m]
+    h = params[5]  # CoG height of total mass above ground [m]
+    m = params[6]  # total vehicle mass [kg]
+    I = params[7]  # moment of inertia in yaw [kg m^2]
+
+    # Steering constraints
+    s_min = params[8]   # minimum steering angle [rad]
+    s_max = params[9]   # maximum steering angle [rad]
+    sv_min = params[10]  # minimum steering velocity [rad/s]
+    sv_max = params[11]  # maximum steering velocity [rad/s]
+
+    # Longitudinal constraints
+    v_switch = params[12]  # switching velocity [m/s]
+    a_max = params[13]  # maximum absolute acceleration [m/s^2]
+    v_min = params[14]  # minimum velocity [m/s]
+    v_max = params[15]  # maximum velocity [m/s]
+
+    # Vehicle geometry
+    width = params[16]  # vehicle width [m]
+    length = params[17]  # vehicle length [m]
+
+    # Curvature and jerk constraints
+    kappa_dot_max = params[18]  # max curvature rate [1/s]
+    kappa_dot_dot_max = params[19]  # max curvature acceleration [1/s^2]
+    j_max = params[20]  # max longitudinal jerk [m/s^3]
+    j_dot_max = params[21]  # max change in jerk [m/s^4]
+
+    # Mass breakdown
+    m_s = params[22]  # sprung mass [kg]
+    m_uf = params[23]  # front unsprung mass [kg]
+    m_ur = params[24]  # rear unsprung mass [kg]
+
+    # Sprung mass inertia
+    I_Phi_s = params[25]  # roll inertia of sprung mass [kg m^2]
+    I_y_s = params[26]  # pitch inertia of sprung mass [kg m^2]
+    I_z = params[27]  # yaw inertia of sprung mass [kg m^2]
+    I_xz_s = params[28]  # cross-product inertia [kg m^2]
+
+    # Suspension spring/damping
+    K_sf = params[29]  # front suspension spring rate [N/m]
+    K_sdf = params[30]  # front suspension damping [N·s/m]
+    K_sr = params[31]  # rear suspension spring rate [N/m]
+    K_sdr = params[32]  # rear suspension damping [N·s/m]
+
+    # Track widths and compliant joints
+    T_f = params[33]  # front track width [m]
+    T_r = params[34]  # rear track width [m]
+    K_ras = params[35]  # lateral spring rate at pin joint [N/m]
+    K_tsf = params[36]  # front torsion roll stiffness [N·m/rad]
+    K_tsr = params[37]  # rear torsion roll stiffness [N·m/rad]
+    K_rad = params[38]  # damping rate at pin joint [N·s/m]
+    K_zt = params[39]  # vertical tire spring rate [N/m]
+
+    # CoG and roll axis heights
+    h_cg = params[40]  # center of gravity height of total mass [m]
+    h_raf = params[41]  # roll axis front height [m]
+    h_rar = params[42]  # roll axis rear height [m]
+    h_s = params[43]  # sprung mass CoG height [m]
+
+    # Unsprung mass inertias
+    I_uf = params[44]  # front unsprung inertia [kg m^2]
+    I_ur = params[45]  # rear unsprung inertia [kg m^2]
+
+    # Wheel and compliance
+    I_y_w = params[46]  # wheel rotational inertia [kg m^2]
+    K_lt = params[47]  # lateral compliance rate [m/N]
+    R_w = params[48]  # wheel/tire effective radius [m]
+
+    # Torque splits
+    T_sb = params[49]  # brake torque split
+    T_se = params[50]  # engine torque split
+
+    # Suspension toe parameters
+    D_f = params[51]  # front toe compliance [rad/m]
+    D_r = params[52]  # rear toe compliance [rad/m]
+    E_f = params[53]  # front compliance nonlinearity
+    E_r = params[54]  # rear compliance nonlinearity
 
+    KIN_THRESH = 0.5
 
     # consider steering and acceleration constraints - outside of the integration
-    # u = np.array([steering_constraint(x[2], u_init[0], s_min, s_max, sv_min, sv_max), accl_constraints(x[3], u_init[1], v_switch, a_max, v_min, v_max)])
+    u[0] = steering_constraint(
+        x[2],
+        u_init[0],
+        s_min,
+        s_max,
+        sv_min,
+        sv_max,
+    )
+    u[1] = accl_constraints(
+        x[3],
+        u_init[1],
+        v_switch,
+        a_max,
+        v_min,
+        v_max,
+    )
 
-    #compute slip angle at cg - outside of the integration
-    # switch to kinematic model for small velocities handeled outside
-    u = np.array([steering_constraint(x[2], u_init[0], s_min, s_max, sv_min, sv_max),
-                  accl_constraints(x[3], u_init[1], v_switch, a_max, v_min, v_max)])
-    
-    
-    if use_kinematic:
-        beta = 0.
+    if abs(x[3]) < KIN_THRESH:
+        beta = 0.0
     else:
-        beta = np.arctan(x[10]/x[3])
-        vel = np.sqrt(x[3]**2 + x[10]**2)
-
-    #vertical tire forces
-    F_z_LF = (x[16] + R_w*(np.cos(x[13]) - 1) - 0.5*T_f*np.sin(x[13]))*K_zt
-    F_z_RF = (x[16] + R_w*(np.cos(x[13]) - 1) + 0.5*T_f*np.sin(x[13]))*K_zt
-    F_z_LR = (x[21] + R_w*(np.cos(x[18]) - 1) - 0.5*T_r*np.sin(x[18]))*K_zt
-    F_z_RR = (x[21] + R_w*(np.cos(x[18]) - 1) + 0.5*T_r*np.sin(x[18]))*K_zt
-
-    #obtain individual tire speeds
-    u_w_lf = (x[3] + 0.5*T_f*x[5])*np.cos(x[2]) + (x[10] + lf*x[5])*np.sin(x[2])
-    u_w_rf = (x[3] - 0.5*T_f*x[5])*np.cos(x[2]) + (x[10] + lf*x[5])*np.sin(x[2])
-    u_w_lr = x[3] + 0.5*T_r*x[5]
-    u_w_rr = x[3] - 0.5*T_r*x[5]
-
-    #negative wheel spin forbidden
-    u_w_lf = np.maximum(u_w_lf, 0.0)
-    u_w_rf = np.maximum(u_w_rf, 0.0)
-    u_w_lr = np.maximum(u_w_lr, 0.0)
-    u_w_rr = np.maximum(u_w_rr, 0.0)
-
-    #compute longitudinal slip
-    #switch to kinematic model for small velocities
-    if use_kinematic:
-        s_lf = 0.
-        s_rf = 0.
-        s_lr = 0.
-        s_rr = 0.
+        beta = np.arctan(x[10] / x[3])
+    vel = np.sqrt(x[3] ** 2 + x[10] ** 2)
+
+    # vertical tire forces
+    F_z_LF = (
+        x[16]
+        + R_w * (np.cos(x[13]) - 1)
+        - 0.5 * T_f * np.sin(x[13])
+    ) * K_zt
+    F_z_RF = (
+        x[16]
+        + R_w * (np.cos(x[13]) - 1)
+        + 0.5 * T_f * np.sin(x[13])
+    ) * K_zt
+    F_z_LR = (
+        x[21]
+        + R_w * (np.cos(x[18]) - 1)
+        - 0.5 * T_r * np.sin(x[18])
+    ) * K_zt
+    F_z_RR = (
+        x[21]
+        + R_w * (np.cos(x[18]) - 1)
+        + 0.5 * T_r * np.sin(x[18])
+    ) * K_zt
+
+    # obtain individual tire speeds
+    u_w_lf = (x[3] + 0.5 * T_f * x[5]) * np.cos(x[2]) + (
+        x[10] + lf * x[5]
+    ) * np.sin(x[2])
+    u_w_rf = (x[3] - 0.5 * T_f * x[5]) * np.cos(x[2]) + (
+        x[10] + lf * x[5]
+    ) * np.sin(x[2])
+    u_w_lr = x[3] + 0.5 * T_r * x[5]
+    u_w_rr = x[3] - 0.5 * T_r * x[5]
+
+    # negative wheel spin forbidden
+    if u_w_lf < 0.0:
+        u_w_lf *= 0
+
+    if u_w_rf < 0.0:
+        u_w_rf *= 0
+
+    if u_w_lr < 0.0:
+        u_w_lr *= 0
+
+    if u_w_rr < 0.0:
+        u_w_rr *= 0
+    # compute longitudinal slip
+    # switch to kinematic model for small velocities
+    if abs(x[3]) < KIN_THRESH:
+        s_lf = 0.0
+        s_rf = 0.0
+        s_lr = 0.0
+        s_rr = 0.0
     else:
-        s_lf = 1 - R_w*x[23]/u_w_lf
-        s_rf = 1 - R_w*x[24]/u_w_rf
-        s_lr = 1 - R_w*x[25]/u_w_lr
-        s_rr = 1 - R_w*x[26]/u_w_rr
-    
+        s_lf = 1 - R_w * x[23] / u_w_lf
+        s_rf = 1 - R_w * x[24] / u_w_rf
+        s_lr = 1 - R_w * x[25] / u_w_lr
+        s_rr = 1 - R_w * x[26] / u_w_rr
 
-    #lateral slip angles
-    #switch to kinematic model for small velocities
-    if use_kinematic:
-        alpha_LF = 0.
-        alpha_RF = 0.
-        alpha_LR = 0.
-        alpha_RR = 0.
+    # lateral slip angles
+    # switch to kinematic model for small velocities
+    if abs(x[3]) < KIN_THRESH:
+        alpha_LF = 0.0
+        alpha_RF = 0.0
+        alpha_LR = 0.0
+        alpha_RR = 0.0
     else:
-        alpha_LF = np.arctan((x[10] + lf*x[5] - x[14]*(R_w - x[16]))/(x[3] + 0.5*T_f*x[5])) - x[2]
-        alpha_RF = np.arctan((x[10] + lf*x[5] - x[14]*(R_w - x[16]))/(x[3] - 0.5*T_f*x[5])) - x[2]
-        alpha_LR = np.arctan((x[10] - lr*x[5] - x[19]*(R_w - x[21]))/(x[3] + 0.5*T_r*x[5]))
-        alpha_RR = np.arctan((x[10] - lr*x[5] - x[19]*(R_w - x[21]))/(x[3] - 0.5*T_r*x[5]))
-
-    #auxiliary suspension movement
-    z_SLF = (h_s - R_w + x[16] - x[11])/np.cos(x[6]) - h_s + R_w + lf*x[8] + 0.5*(x[6] - x[13])*T_f
-    z_SRF = (h_s - R_w + x[16] - x[11])/np.cos(x[6]) - h_s + R_w + lf*x[8] - 0.5*(x[6] - x[13])*T_f
-    z_SLR = (h_s - R_w + x[21] - x[11])/np.cos(x[6]) - h_s + R_w - lr*x[8] + 0.5*(x[6] - x[18])*T_r
-    z_SRR = (h_s - R_w + x[21] - x[11])/np.cos(x[6]) - h_s + R_w - lr*x[8] - 0.5*(x[6] - x[18])*T_r
-
-    dz_SLF = x[17] - x[12] + lf*x[9] + 0.5*(x[7] - x[14])*T_f
-    dz_SRF = x[17] - x[12] + lf*x[9] - 0.5*(x[7] - x[14])*T_f
-    dz_SLR = x[22] - x[12] - lr*x[9] + 0.5*(x[7] - x[19])*T_r
-    dz_SRR = x[22] - x[12] - lr*x[9] - 0.5*(x[7] - x[19])*T_r
-    
-    #camber angles
-    gamma_LF = x[6] + D_f*z_SLF + E_f*(z_SLF)**2
-    gamma_RF = x[6] - D_f*z_SRF - E_f*(z_SRF)**2
-    gamma_LR = x[6] + D_r*z_SLR + E_r*(z_SLR)**2
-    gamma_RR = x[6] - D_r*z_SRR - E_r*(z_SRR)**2
+        alpha_LF = (
+            np.arctan(
+                (x[10] + lf * x[5] - x[14] * (R_w - x[16]))
+                / (x[3] + 0.5 * T_f * x[5])
+            )
+            - x[2]
+        )
+        alpha_RF = (
+            np.arctan(
+                (x[10] + lf * x[5] - x[14] * (R_w - x[16]))
+                / (x[3] - 0.5 * T_f * x[5])
+            )
+            - x[2]
+        )
+        alpha_LR = np.arctan(
+            (x[10] - lr * x[5] - x[19] * (R_w - x[21]))
+            / (x[3] + 0.5 * T_r * x[5])
+        )
+        alpha_RR = np.arctan(
+            (x[10] - lr * x[5] - x[19] * (R_w - x[21]))
+            / (x[3] - 0.5 * T_r * x[5])
+        )
+
+    # auxiliary suspension movement
+    z_SLF = (
+        (h_s - R_w + x[16] - x[11]) / np.cos(x[6])
+        - h_s
+        + R_w
+        + lf * x[8]
+        + 0.5 * (x[6] - x[13]) * T_f
+    )
+    z_SRF = (
+        (h_s - R_w + x[16] - x[11]) / np.cos(x[6])
+        - h_s
+        + R_w
+        + lf * x[8]
+        - 0.5 * (x[6] - x[13]) * T_f
+    )
+    z_SLR = (
+        (h_s - R_w + x[21] - x[11]) / np.cos(x[6])
+        - h_s
+        + R_w
+        - lr * x[8]
+        + 0.5 * (x[6] - x[18]) * T_r
+    )
+    z_SRR = (
+        (h_s - R_w + x[21] - x[11]) / np.cos(x[6])
+        - h_s
+        + R_w
+        - lr * x[8]
+        - 0.5 * (x[6] - x[18]) * T_r
+    )
+
+    dz_SLF = x[17] - x[12] + lf * x[9] + 0.5 * (x[7] - x[14]) * T_f
+    dz_SRF = x[17] - x[12] + lf * x[9] - 0.5 * (x[7] - x[14]) * T_f
+    dz_SLR = x[22] - x[12] - lr * x[9] + 0.5 * (x[7] - x[19]) * T_r
+    dz_SRR = x[22] - x[12] - lr * x[9] - 0.5 * (x[7] - x[19]) * T_r
 
-    #compute longitudinal tire forces using the magic formula for pure slip
+    # camber angles
+    gamma_LF = x[6] + D_f * z_SLF + E_f * (z_SLF) ** 2
+    gamma_RF = x[6] - D_f * z_SRF - E_f * (z_SRF) ** 2
+    gamma_LR = x[6] + D_r * z_SLR + E_r * (z_SLR) ** 2
+    gamma_RR = x[6] - D_r * z_SRR - E_r * (z_SRR) ** 2
+
+    # compute longitudinal tire forces using the magic formula for pure slip
     F0_x_LF = formula_longitudinal(s_lf, gamma_LF, F_z_LF, params)
     F0_x_RF = formula_longitudinal(s_rf, gamma_RF, F_z_RF, params)
     F0_x_LR = formula_longitudinal(s_lr, gamma_LR, F_z_LR, params)
     F0_x_RR = formula_longitudinal(s_rr, gamma_RR, F_z_RR, params)
-    
-    #compute lateral tire forces using the magic formula for pure slip
+
+    # compute lateral tire forces using the magic formula for pure slip
     res = formula_lateral(alpha_LF, gamma_LF, F_z_LF, params)
     F0_y_LF = res[0]
     mu_y_LF = res[1]
@@ -948,19 +333,27 @@ def vehicle_dynamics_mb(x, u_init, params):
     F0_y_RR = res[0]
     mu_y_RR = res[1]
 
-    #compute longitudinal tire forces using the magic formula for combined slip
+    # compute longitudinal tire forces using the magic formula for combined slip
     F_x_LF = formula_longitudinal_comb(s_lf, alpha_LF, F0_x_LF, params)
     F_x_RF = formula_longitudinal_comb(s_rf, alpha_RF, F0_x_RF, params)
     F_x_LR = formula_longitudinal_comb(s_lr, alpha_LR, F0_x_LR, params)
     F_x_RR = formula_longitudinal_comb(s_rr, alpha_RR, F0_x_RR, params)
 
-    #compute lateral tire forces using the magic formula for combined slip
-    F_y_LF = formula_lateral_comb(s_lf, alpha_LF, gamma_LF, mu_y_LF, F_z_LF, F0_y_LF, params)
-    F_y_RF = formula_lateral_comb(s_rf, alpha_RF, gamma_RF, mu_y_RF, F_z_RF, F0_y_RF, params)
-    F_y_LR = formula_lateral_comb(s_lr, alpha_LR, gamma_LR, mu_y_LR, F_z_LR, F0_y_LR, params)
-    F_y_RR = formula_lateral_comb(s_rr, alpha_RR, gamma_RR, mu_y_RR, F_z_RR, F0_y_RR, params)
-    
-    #auxiliary movements for compliant joint equations
+    # compute lateral tire forces using the magic formula for combined slip
+    F_y_LF = formula_lateral_comb(
+        s_lf, alpha_LF, gamma_LF, mu_y_LF, F_z_LF, F0_y_LF, params
+    )
+    F_y_RF = formula_lateral_comb(
+        s_rf, alpha_RF, gamma_RF, mu_y_RF, F_z_RF, F0_y_RF, params
+    )
+    F_y_LR = formula_lateral_comb(
+        s_lr, alpha_LR, gamma_LR, mu_y_LR, F_z_LR, F0_y_LR, params
+    )
+    F_y_RR = formula_lateral_comb(
+        s_rr, alpha_RR, gamma_RR, mu_y_RR, F_z_RR, F0_y_RR, params
+    )
+
+    # auxiliary movements for compliant joint equations
     delta_z_f = h_s - R_w + x[16] - x[11]
     delta_z_r = h_s - R_w + x[21] - x[11]
 
@@ -973,72 +366,185 @@ def vehicle_dynamics_mb(x, u_init, params):
     dot_delta_z_f = x[17] - x[12]
     dot_delta_z_r = x[22] - x[12]
 
-    dot_delta_y_f = x[10] + lf*x[5] - x[15]
-    dot_delta_y_r = x[10] - lr*x[5] - x[20]
+    dot_delta_y_f = x[10] + lf * x[5] - x[15]
+    dot_delta_y_r = x[10] - lr * x[5] - x[20]
 
-    delta_f = delta_z_f*np.sin(x[6]) - x[27]*np.cos(x[6]) - (h_raf - R_w)*np.sin(delta_phi_f)
-    delta_r = delta_z_r*np.sin(x[6]) - x[28]*np.cos(x[6]) - (h_rar - R_w)*np.sin(delta_phi_r)
+    delta_f = (
+        delta_z_f * np.sin(x[6])
+        - x[27] * np.cos(x[6])
+        - (h_raf - R_w) * np.sin(delta_phi_f)
+    )
+    delta_r = (
+        delta_z_r * np.sin(x[6])
+        - x[28] * np.cos(x[6])
+        - (h_rar - R_w) * np.sin(delta_phi_r)
+    )
 
-    dot_delta_f = (delta_z_f*np.cos(x[6]) + x[27]*np.sin(x[6]))*x[7] + dot_delta_z_f*np.sin(x[6]) - dot_delta_y_f*np.cos(x[6]) - (h_raf - R_w)*np.cos(delta_phi_f)*dot_delta_phi_f
-    dot_delta_r = (delta_z_r*np.cos(x[6]) + x[28]*np.sin(x[6]))*x[7] + dot_delta_z_r*np.sin(x[6]) - dot_delta_y_r*np.cos(x[6]) - (h_rar - R_w)*np.cos(delta_phi_r)*dot_delta_phi_r
+    dot_delta_f = (
+        (delta_z_f * np.cos(x[6]) + x[27] * np.sin(x[6])) * x[7]
+        + dot_delta_z_f * np.sin(x[6])
+        - dot_delta_y_f * np.cos(x[6])
+        - (h_raf - R_w) * np.cos(delta_phi_f) * dot_delta_phi_f
+    )
+    dot_delta_r = (
+        (delta_z_r * np.cos(x[6]) + x[28] * np.sin(x[6])) * x[7]
+        + dot_delta_z_r * np.sin(x[6])
+        - dot_delta_y_r * np.cos(x[6])
+        - (h_rar - R_w) * np.cos(delta_phi_r) * dot_delta_phi_r
+    )
 
-    #compliant joint forces
-    F_RAF = delta_f*K_ras + dot_delta_f*K_rad
-    F_RAR = delta_r*K_ras + dot_delta_r*K_rad
-    
-    #auxiliary suspension forces (bump stop neglected  squat/lift forces neglected)
-    F_SLF = m_s*g*lr/(2*(lf+lr)) - z_SLF*K_sf - dz_SLF*K_sdf + (x[6] - x[13])*K_tsf/T_f
+    # compliant joint forces
+    F_RAF = delta_f * K_ras + dot_delta_f * K_rad
+    F_RAR = delta_r * K_ras + dot_delta_r * K_rad
 
-    F_SRF = m_s*g*lr/(2*(lf+lr)) - z_SRF*K_sf - dz_SRF*K_sdf - (x[6] - x[13])*K_tsf/T_f
+    # auxiliary suspension forces (bump stop neglected  squat/lift forces neglected)
+    F_SLF = (
+        m_s * g * lr / (2 * (lf + lr))
+        - z_SLF * K_sf
+        - dz_SLF * K_sdf
+        + (x[6] - x[13]) * K_tsf / T_f
+    )
 
-    F_SLR = m_s*g*lf/(2*(lf+lr)) - z_SLR*K_sr - dz_SLR*K_sdr + (x[6] - x[18])*K_tsr/T_r
+    F_SRF = (
+        m_s * g * lr / (2 * (lf + lr))
+        - z_SRF * K_sf
+        - dz_SRF * K_sdf
+        - (x[6] - x[13]) * K_tsf / T_f
+    )
 
-    F_SRR = m_s*g*lf/(2*(lf+lr)) - z_SRR*K_sr - dz_SRR*K_sdr - (x[6] - x[18])*K_tsr/T_r
+    F_SLR = (
+        m_s * g * lf / (2 * (lf + lr))
+        - z_SLR * K_sr
+        - dz_SLR * K_sdr
+        + (x[6] - x[18]) * K_tsr / T_r
+    )
 
-    #auxiliary variables sprung mass
-    sumX = F_x_LR + F_x_RR + (F_x_LF + F_x_RF)*np.cos(x[2]) - (F_y_LF + F_y_RF)*np.sin(x[2])
+    F_SRR = (
+        m_s * g * lf / (2 * (lf + lr))
+        - z_SRR * K_sr
+        - dz_SRR * K_sdr
+        - (x[6] - x[18]) * K_tsr / T_r
+    )
 
-    sumN = (F_y_LF + F_y_RF)*lf*np.cos(x[2]) + (F_x_LF + F_x_RF)*lf*np.sin(x[2]) \
-           + (F_y_RF - F_y_LF)*0.5*T_f*np.sin(x[2]) + (F_x_LF - F_x_RF)*0.5*T_f*np.cos(x[2]) \
-           + (F_x_LR - F_x_RR)*0.5*T_r - (F_y_LR + F_y_RR)*lr
+    # auxiliary variables sprung mass
+    sumX = (
+        F_x_LR
+        + F_x_RR
+        + (F_x_LF + F_x_RF) * np.cos(x[2])
+        - (F_y_LF + F_y_RF) * np.sin(x[2])
+    )
 
-    sumY_s = (F_RAF + F_RAR)*np.cos(x[6]) + (F_SLF + F_SLR + F_SRF + F_SRR)*np.sin(x[6])
+    sumN = (
+        (F_y_LF + F_y_RF) * lf * np.cos(x[2])
+        + (F_x_LF + F_x_RF) * lf * np.sin(x[2])
+        + (F_y_RF - F_y_LF) * 0.5 * T_f * np.sin(x[2])
+        + (F_x_LF - F_x_RF) * 0.5 * T_f * np.cos(x[2])
+        + (F_x_LR - F_x_RR) * 0.5 * T_r
+        - (F_y_LR + F_y_RR) * lr
+    )
 
-    sumL = 0.5*F_SLF*T_f + 0.5*F_SLR*T_r - 0.5*F_SRF*T_f - 0.5*F_SRR*T_r \
-           - F_RAF/np.cos(x[6])*(h_s - x[11] - R_w + x[16] - (h_raf - R_w)*np.cos(x[13])) \
-           - F_RAR/np.cos(x[6])*(h_s - x[11] - R_w + x[21] - (h_rar - R_w)*np.cos(x[18]))
+    sumY_s = (F_RAF + F_RAR) * np.cos(x[6]) + (F_SLF + F_SLR + F_SRF + F_SRR) * np.sin(
+        x[6]
+    )
 
-    sumZ_s = (F_SLF + F_SLR + F_SRF + F_SRR)*np.cos(x[6]) - (F_RAF + F_RAR)*np.sin(x[6])
+    sumL = (
+        0.5 * F_SLF * T_f
+        + 0.5 * F_SLR * T_r
+        - 0.5 * F_SRF * T_f
+        - 0.5 * F_SRR * T_r
+        - F_RAF
+        / np.cos(x[6])
+        * (
+            h_s
+            - x[11]
+            - R_w
+            + x[16]
+            - (h_raf - R_w) * np.cos(x[13])
+        )
+        - F_RAR
+        / np.cos(x[6])
+        * (
+            h_s
+            - x[11]
+            - R_w
+            + x[21]
+            - (h_rar - R_w) * np.cos(x[18])
+        )
+    )
 
-    sumM_s = lf*(F_SLF + F_SRF) - lr*(F_SLR + F_SRR) + ((F_x_LF + F_x_RF)*np.cos(x[2]) \
-                                                          - (F_y_LF + F_y_RF)*np.sin(x[2]) + F_x_LR + F_x_RR)*(h_s - x[11])
+    sumZ_s = (F_SLF + F_SLR + F_SRF + F_SRR) * np.cos(x[6]) - (F_RAF + F_RAR) * np.sin(
+        x[6]
+    )
 
-    #auxiliary variables unsprung mass
-    sumL_uf = 0.5*F_SRF*T_f - 0.5*F_SLF*T_f - F_RAF*(h_raf - R_w) \
-              + F_z_LF*(R_w*np.sin(x[13]) + 0.5*T_f*np.cos(x[13]) - K_lt*F_y_LF) \
-              - F_z_RF*(-R_w*np.sin(x[13]) + 0.5*T_f*np.cos(x[13]) + K_lt*F_y_RF) \
-              - ((F_y_LF + F_y_RF)*np.cos(x[2]) + (F_x_LF + F_x_RF)*np.sin(x[2]))*(R_w - x[16])
+    sumM_s = (
+        lf * (F_SLF + F_SRF)
+        - lr * (F_SLR + F_SRR)
+        + (
+            (F_x_LF + F_x_RF) * np.cos(x[2])
+            - (F_y_LF + F_y_RF) * np.sin(x[2])
+            + F_x_LR
+            + F_x_RR
+        )
+        * (h_s - x[11])
+    )
 
-    sumL_ur = 0.5*F_SRR*T_r - 0.5*F_SLR*T_r - F_RAR*(h_rar - R_w) \
-              + F_z_LR*(R_w*np.sin(x[18]) + 0.5*T_r*np.cos(x[18]) - K_lt*F_y_LR) \
-              - F_z_RR*(-R_w*np.sin(x[18]) + 0.5*T_r*np.cos(x[18]) + K_lt*F_y_RR) \
-              - (F_y_LR + F_y_RR)*(R_w - x[21])
+    # auxiliary variables unsprung mass
+    sumL_uf = (
+        0.5 * F_SRF * T_f
+        - 0.5 * F_SLF * T_f
+        - F_RAF * (h_raf - R_w)
+        + F_z_LF
+        * (
+            R_w * np.sin(x[13])
+            + 0.5 * T_f * np.cos(x[13])
+            - K_lt * F_y_LF
+        )
+        - F_z_RF
+        * (
+            -R_w * np.sin(x[13])
+            + 0.5 * T_f * np.cos(x[13])
+            + K_lt * F_y_RF
+        )
+        - ((F_y_LF + F_y_RF) * np.cos(x[2]) + (F_x_LF + F_x_RF) * np.sin(x[2]))
+        * (R_w - x[16])
+    )
 
-    sumZ_uf = F_z_LF + F_z_RF + F_RAF*np.sin(x[6]) - (F_SLF + F_SRF)*np.cos(x[6])
+    sumL_ur = (
+        0.5 * F_SRR * T_r
+        - 0.5 * F_SLR * T_r
+        - F_RAR * (h_rar - R_w)
+        + F_z_LR
+        * (
+            R_w * np.sin(x[18])
+            + 0.5 * T_r * np.cos(x[18])
+            - K_lt * F_y_LR
+        )
+        - F_z_RR
+        * (
+            -R_w * np.sin(x[18])
+            + 0.5 * T_r * np.cos(x[18])
+            + K_lt * F_y_RR
+        )
+        - (F_y_LR + F_y_RR) * (R_w - x[21])
+    )
 
-    sumZ_ur = F_z_LR + F_z_RR + F_RAR*np.sin(x[6]) - (F_SLR + F_SRR)*np.cos(x[6])
+    sumZ_uf = F_z_LF + F_z_RF + F_RAF * np.sin(x[6]) - (F_SLF + F_SRF) * np.cos(x[6])
 
-    sumY_uf = (F_y_LF + F_y_RF)*np.cos(x[2]) + (F_x_LF + F_x_RF)*np.sin(x[2]) \
-              - F_RAF*np.cos(x[6]) - (F_SLF + F_SRF)*np.sin(x[6])
+    sumZ_ur = F_z_LR + F_z_RR + F_RAR * np.sin(x[6]) - (F_SLR + F_SRR) * np.cos(x[6])
 
-    sumY_ur = (F_y_LR + F_y_RR) \
-              - F_RAR*np.cos(x[6]) - (F_SLR + F_SRR)*np.sin(x[6])
+    sumY_uf = (
+        (F_y_LF + F_y_RF) * np.cos(x[2])
+        + (F_x_LF + F_x_RF) * np.sin(x[2])
+        - F_RAF * np.cos(x[6])
+        - (F_SLF + F_SRF) * np.sin(x[6])
+    )
 
+    sumY_ur = (F_y_LR + F_y_RR) - F_RAR * np.cos(x[6]) - (F_SLR + F_SRR) * np.sin(x[6])
 
     # dynamics common with single-track model
-    f = np.zeros((29,))# init 'right hand side'
+    f = np.zeros(29)  # init 'right hand side'
     # switch to kinematic model for small velocities
-    if use_kinematic:
+    if abs(x[3]) < KIN_THRESH:
         # wheelbase
         # lwb = lf + lr
 
@@ -1051,53 +557,66 @@ def vehicle_dynamics_mb(x, u_init, params):
         # Use kinematic model with reference point at center of mass
         # wheelbase
         lwb = lf + lr
-
         # system dynamics
-        x_ks = x[0:5]
+        x_ks = [x[0], x[1], x[2], x[3], x[4]]
         # kinematic model
-        # f_ks = vehicle_dynamics_ks_cog(x_ks, u, p)
-        # f = [f_ks[0], f_ks[1], f_ks[2], f_ks[3], f_ks[4]] # 1 2 3 4 5
-        f_ks = vehicle_dynamics_ks_cog(x_ks, u, 0., 0., 0., lf, lr, 0., 0., 0., s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max, 0., 0.)
-        f[0:5] = f_ks
+        f_ks = vehicle_dynamics_ks_cog(np.array(x_ks), u, params)
+        f[0:5] = np.array([f_ks[0], f_ks[1], f_ks[2], f_ks[3], f_ks[4]])
         # derivative of slip angle and yaw rate
-        d_beta = (lr * u[0]) / (lwb * np.cos(x[2]) ** 2 * (1 + (np.tan(x[2]) ** 2 * lr / lwb) ** 2))
-        dd_psi = 1 / lwb * (u[1] * np.cos(x[6]) * np.tan(x[2]) -
-                            x[3] * np.sin(x[6]) * d_beta * np.tan(x[2]) +
-                            x[3] * np.cos(x[6]) * u[0] / np.cos(x[2]) ** 2)
-        # f.append(dd_psi) # 6
+        d_beta = (lr * u[0]) / (
+            lwb
+            * np.cos(x[2]) ** 2
+            * (1 + (np.tan(x[2]) ** 2 * lr / lwb) ** 2)
+        )
+        dd_psi = (
+            1
+            / lwb
+            * (
+                u[1] * np.cos(x[6]) * np.tan(x[2])
+                - x[3] * np.sin(x[6]) * d_beta * np.tan(x[2])
+                + x[3] * np.cos(x[6]) * u[0] / np.cos(x[2]) ** 2
+            )
+        )
         f[5] = dd_psi
 
     else:
-        f[0] = np.cos(beta + x[4])*vel # 1
-        f[1] = np.sin(beta + x[4])*vel # 2
-        f[2] = u[0] # 3
-        f[3] = 1/m*sumX + x[5]*x[10] # 4
-        f[4] = x[5] # 5
-        f[5] = 1/(I_z - (I_xz_s)**2/I_Phi_s)*(sumN + I_xz_s/I_Phi_s*sumL) # 6
-
+        f[0] = np.cos(beta + x[4]) * vel
+        f[1] = np.sin(beta + x[4]) * vel
+        f[2] = u[0]
+        f[3] = 1 / m * sumX + x[5] * x[10]
+        f[4] = x[5]
+        f[5] = (
+            1
+            / (I_z - (I_xz_s) ** 2 / I_Phi_s)
+            * (sumN + I_xz_s / I_Phi_s * sumL)
+        )
 
     # remaining sprung mass dynamics
-    f[6] = x[7] # 7
-    f[7] = 1/(I_Phi_s - (I_xz_s)**2/I_z)*(I_xz_s/I_z*sumN + sumL) # 8
-    f[8] = x[9] # 9
-    f[9] = 1/I_y_s*sumM_s # 10
-    f[10] = 1/m_s*sumY_s - x[5]*x[3] # 11
-    f[11] = x[12] # 12
-    f[12] = g - 1/m_s*sumZ_s # 13
-
-    #unsprung mass dynamics (front)
-    f[13] = x[14] # 14
-    f[14] = 1/I_uf*sumL_uf # 15
-    f[15] = 1/m_uf*sumY_uf - x[5]*x[3] # 16
-    f[16] = x[17] # 17
-    f[17] = g - 1/m_uf*sumZ_uf # 18
-
-    #unsprung mass dynamics (rear)
-    f[18] = x[19] # 19
-    f[19] = 1/I_ur*sumL_ur # 20
-    f[20] = 1/m_ur*sumY_ur - x[5]*x[3] # 21
-    f[21] = x[22] # 22
-    f[22] = g - 1/m_ur*sumZ_ur # 23
+    f[6] = x[7]
+    f[7] = (
+        1
+        / (I_Phi_s - (I_xz_s) ** 2 / I_z)
+        * (I_xz_s / I_z * sumN + sumL)
+    )
+    f[8] = x[9]
+    f[9] = 1 / I_y_s * sumM_s
+    f[10] = 1 / m_s * sumY_s - x[5] * x[3]
+    f[11] = x[12]
+    f[12] = g - 1 / m_s * sumZ_s
+
+    # unsprung mass dynamics (front)
+    f[13] = x[14]
+    f[14] = 1 / I_uf * sumL_uf
+    f[15] = 1 / m_uf * sumY_uf - x[5] * x[3]
+    f[16] = x[17]
+    f[17] = g - 1 / m_uf * sumZ_uf
+
+    # unsprung mass dynamics (rear)
+    f[18] = x[19]
+    f[19] = 1 / I_ur * sumL_ur
+    f[20] = 1 / m_ur * sumY_ur - x[5] * x[3]
+    f[21] = x[22]
+    f[22] = g - 1 / m_ur * sumZ_ur
 
     # convert acceleration input to brake and engine torque
     if u[1] > 0:
@@ -1107,7 +626,7 @@ def vehicle_dynamics_mb(x, u_init, params):
         T_B = m * R_w * u[1]
         T_E = 0.0
 
-    #wheel dynamics (p.T  new parameter for torque splitting) - splitting for brake/drive torque is outside of the integration
+    # wheel dynamics  (T  new parameter for torque splitting)
     f[23] = (
         1
         / I_y_w
@@ -1145,33 +664,497 @@ def vehicle_dynamics_mb(x, u_init, params):
         )
     )
 
-    #negative wheel spin forbidden handeled outside of this function
+    # negative wheel spin forbidden
     for iState in range(23, 27):
         if x[iState] < 0.0:
             x[iState] = 0.0
             f[iState] = 0.0
 
-    #compliant joint equations
-    f[27] = dot_delta_y_f # 28
-    f[28] = dot_delta_y_r # 29
-
-    # longitudinal slip
-    # s_lf
-    # s_rf
-    # s_lr
-    # s_rr
-
-    # lateral slip
-    # alpha_LF
-    # alpha_RF
-    # alpha_LR
-    # alpha_RR
-
-    # return f, F_x_LF, F_x_RF, F_x_LR, F_x_RR, F_y_LF, F_y_RF, F_y_LR, F_y_RR, \
-    #     s_lf, s_rf, s_lr, s_rr, alpha_LF, alpha_RF, alpha_LR, alpha_RR, \
-    #     F_z_LF, F_z_RF, F_z_LR, F_z_RR
+    # compliant joint equations
+    f[27] = dot_delta_y_f
+    f[28] = dot_delta_y_r
+
     return f
 
+## Old stuff, not used anymore
+# sequential_param_keys = ['length', 'width', 's_min', 's_max', 'sv_min', 
+#                          'sv_max', 'v_min', 'v_max', 'v_switch', 'a_max', 
+#                          'm', 'm_s', 'm_uf', 'm_ur', 'lf', 'lr', 'I_Phi_s', 
+#                          'I_y_s', 'I_z', 'I_xz_s', 'K_sf', 'K_sdf', 'K_sr', 
+#                          'K_sdr', 'T_f', 'T_r', 'K_ras', 'K_tsf', 'K_tsr', 
+#                          'K_rad', 'K_zt', 'h_cg', 'h_raf', 'h_rar', 'h_s', 
+#                          'I_uf', 'I_ur', 'I_y_w', 'K_lt', 'R_w', 'T_sb', 
+#                          'T_se', 'D_f', 'D_r', 'E_f', 'E_r', 'tire_p_cx1', 
+#                          'tire_p_dx1', 'tire_p_dx3', 'tire_p_ex1', 'tire_p_kx1', 
+#                          'tire_p_hx1', 'tire_p_vx1', 'tire_r_bx1', 'tire_r_bx2', 
+#                          'tire_r_cx1', 'tire_r_ex1', 'tire_r_hx1', 'tire_p_cy1', 
+#                          'tire_p_dy1', 'tire_p_dy3', 'tire_p_ey1', 'tire_p_ky1', 
+#                          'tire_p_hy1', 'tire_p_hy3', 'tire_p_vy1', 'tire_p_vy3', 
+#                          'tire_r_by1', 'tire_r_by2', 'tire_r_by3', 'tire_r_cy1', 
+#                          'tire_r_ey1', 'tire_r_hy1', 'tire_r_vy1', 'tire_r_vy3', 
+#                          'tire_r_vy4', 'tire_r_vy5', 'tire_r_vy6']
+
+# @njit(cache=True)
+# def vehicle_dynamics_mb(x, u_init, params):
+#     """
+#     vehicleDynamics_mb - multi-body vehicle dynamics based on the DOT (department of transportation) vehicle dynamics
+#     reference point: center of mass
+
+#     Syntax:
+#         f = vehicleDynamics_mb(x,u,p)
+
+#     Inputs:
+#         :param x: vehicle state vector
+#         :param uInit: vehicle input vector
+#         :param params: vehicle parameter vector
+
+#     Outputs:
+#         :return f: right-hand side of differential equations
+
+#     Author: Matthias Althoff
+#     Written: 05-January-2017
+#     Last update: 17-December-2017
+#     Last revision: ---
+#     """
+#     KIN_THRESH = 0.5
+#     use_kinematic = abs(x[3]) < KIN_THRESH
+#     #------------- BEGIN CODE --------------
+
+#     # set gravity constant
+#     g = 9.81  #[m/s^2]
+
+#     #states
+#     #x1 = x-position in a global coordinate system
+#     #x2 = y-position in a global coordinate system
+#     #x3 = steering angle of front wheels
+#     #x4 = velocity in x-direction
+#     #x5 = yaw angle
+#     #x6 = yaw rate
+
+#     #x7 = roll angle
+#     #x8 = roll rate
+#     #x9 = pitch angle
+#     #x10 = pitch rate
+#     #x11 = velocity in y-direction
+#     #x12 = z-position
+#     #x13 = velocity in z-direction
+
+#     #x14 = roll angle front
+#     #x15 = roll rate front
+#     #x16 = velocity in y-direction front
+#     #x17 = z-position front
+#     #x18 = velocity in z-direction front
+
+#     #x19 = roll angle rear
+#     #x20 = roll rate rear
+#     #x21 = velocity in y-direction rear
+#     #x22 = z-position rear
+#     #x23 = velocity in z-direction rear
+
+#     #x24 = left front wheel angular speed
+#     #x25 = right front wheel angular speed
+#     #x26 = left rear wheel angular speed
+#     #x27 = right rear wheel angular speed
+
+#     #x28 = delta_y_f
+#     #x29 = delta_y_r
+
+#     #u1 = steering angle velocity of front wheels
+#     #u2 = acceleration
+
+#     # vehicle body dimensions
+#     length = params[0]  # vehicle length [m]
+#     width = params[1]  # vehicle width [m]
+
+#     # steering constraints
+#     s_min = params[2]  # minimum steering angle [rad]
+#     s_max = params[3]  # maximum steering angle [rad]
+#     sv_min = params[4] # minimum steering velocity [rad/s]
+#     sv_max = params[5] # maximum steering velocity [rad/s]
+
+#     # longitudinal constraints
+#     v_min = params[6]  # minimum velocity [m/s]
+#     v_max = params[7] # minimum velocity [m/s]
+#     v_switch = params[8]  # switching velocity [m/s]
+#     a_max = params[9] # maximum absolute acceleration [m/s^2]
+
+#     # masses
+#     m = params[10] # vehicle mass [kg]  MASS
+#     m_s = params[11] # sprung mass [kg]  SMASS
+#     m_uf = params[12] # unsprung mass front [kg]  UMASSF
+#     m_ur = params[13] # unsprung mass rear [kg]  UMASSR
+
+#     # axes distances
+#     lf = params[14] # distance from spring mass center of gravity to front axle [m]  LENA
+#     lr = params[15]  # distance from spring mass center of gravity to rear axle [m]  LENB
+
+#     # moments of inertia of sprung mass
+#     I_Phi_s = params[16]  # moment of inertia for sprung mass in roll [kg m^2]  IXS
+#     I_y_s = params[17]  # moment of inertia for sprung mass in pitch [kg m^2]  IYS
+#     I_z = params[18]  # moment of inertia for sprung mass in yaw [kg m^2]  IZZ
+#     I_xz_s = params[19]  # moment of inertia cross product [kg m^2]  IXZ
+
+#     # suspension parameters
+#     K_sf = params[20]  # suspension spring rate (front) [N/m]  KSF
+#     K_sdf = params[21]  # suspension damping rate (front) [N s/m]  KSDF
+#     K_sr = params[22]  # suspension spring rate (rear) [N/m]  KSR
+#     K_sdr = params[23]  # suspension damping rate (rear) [N s/m]  KSDR
+
+#     # geometric parameters
+#     T_f = params[24]   # track width front [m]  TRWF
+#     T_r = params[25]   # track width rear [m]  TRWB
+#     K_ras = params[26] # lateral spring rate at compliant compliant pin joint between M_s and M_u [N/m]  KRAS
+
+#     K_tsf = params[27]   # auxiliary torsion roll stiffness per axle (normally negative) (front) [N m/rad]  KTSF
+#     K_tsr = params[28] # auxiliary torsion roll stiffness per axle (normally negative) (rear) [N m/rad]  KTSR
+#     K_rad = params[29] # damping rate at compliant compliant pin joint between M_s and M_u [N s/m]  KRADP
+#     K_zt = params[30] # vertical spring rate of tire [N/m]  TSPRINGR
+
+#     h_cg = params[31]   # center of gravity height of total mass [m]  HCG (mainly required for conversion to other vehicle models)
+#     h_raf = params[32] # height of roll axis above ground (front) [m]  HRAF
+#     h_rar = params[33] # height of roll axis above ground (rear) [m]  HRAR
+
+#     h_s = params[34]   # M_s center of gravity above ground [m]  HS
+
+#     I_uf = params[35] # moment of inertia for unsprung mass about x-axis (front) [kg m^2]  IXUF
+#     I_ur = params[36] # moment of inertia for unsprung mass about x-axis (rear) [kg m^2]  IXUR
+#     I_y_w = params[37]  # wheel inertia, from internet forum for 235/65 R 17 [kg m^2]
+
+#     K_lt = params[38]  # lateral compliance rate of tire, wheel, and suspension, per tire [m/N]  KLT
+#     R_w = params[39]  # effective wheel/tire radius  chosen as tire rolling radius RR  taken from ADAMS documentation [m]
+
+#     # split of brake and engine torque
+#     T_sb = params[40]
+#     T_se = params[41]
+
+#     # suspension parameters
+#     D_f = params[42]  # [rad/m]  DF
+#     D_r = params[43]  # [rad/m]  DR
+#     E_f = params[44]  # [needs conversion if nonzero]  EF
+#     E_r = params[45]  # [needs conversion if nonzero]  ER
+
+
+#     # consider steering and acceleration constraints - outside of the integration
+#     # u = np.array([steering_constraint(x[2], u_init[0], s_min, s_max, sv_min, sv_max), accl_constraints(x[3], u_init[1], v_switch, a_max, v_min, v_max)])
+
+#     #compute slip angle at cg - outside of the integration
+#     # switch to kinematic model for small velocities handeled outside
+#     u = np.array([steering_constraint(x[2], u_init[0], s_min, s_max, sv_min, sv_max),
+#                   accl_constraints(x[3], u_init[1], v_switch, a_max, v_min, v_max)])
+    
+    
+#     if use_kinematic:
+#         beta = 0.
+#     else:
+#         beta = np.arctan(x[10]/x[3])
+#         vel = np.sqrt(x[3]**2 + x[10]**2)
+
+#     #vertical tire forces
+#     F_z_LF = (x[16] + R_w*(np.cos(x[13]) - 1) - 0.5*T_f*np.sin(x[13]))*K_zt
+#     F_z_RF = (x[16] + R_w*(np.cos(x[13]) - 1) + 0.5*T_f*np.sin(x[13]))*K_zt
+#     F_z_LR = (x[21] + R_w*(np.cos(x[18]) - 1) - 0.5*T_r*np.sin(x[18]))*K_zt
+#     F_z_RR = (x[21] + R_w*(np.cos(x[18]) - 1) + 0.5*T_r*np.sin(x[18]))*K_zt
+
+#     #obtain individual tire speeds
+#     u_w_lf = (x[3] + 0.5*T_f*x[5])*np.cos(x[2]) + (x[10] + lf*x[5])*np.sin(x[2])
+#     u_w_rf = (x[3] - 0.5*T_f*x[5])*np.cos(x[2]) + (x[10] + lf*x[5])*np.sin(x[2])
+#     u_w_lr = x[3] + 0.5*T_r*x[5]
+#     u_w_rr = x[3] - 0.5*T_r*x[5]
+
+#     #negative wheel spin forbidden
+#     u_w_lf = np.maximum(u_w_lf, 0.0)
+#     u_w_rf = np.maximum(u_w_rf, 0.0)
+#     u_w_lr = np.maximum(u_w_lr, 0.0)
+#     u_w_rr = np.maximum(u_w_rr, 0.0)
+
+#     #compute longitudinal slip
+#     #switch to kinematic model for small velocities
+#     if use_kinematic:
+#         s_lf = 0.
+#         s_rf = 0.
+#         s_lr = 0.
+#         s_rr = 0.
+#     else:
+#         s_lf = 1 - R_w*x[23]/u_w_lf
+#         s_rf = 1 - R_w*x[24]/u_w_rf
+#         s_lr = 1 - R_w*x[25]/u_w_lr
+#         s_rr = 1 - R_w*x[26]/u_w_rr
+    
+
+#     #lateral slip angles
+#     #switch to kinematic model for small velocities
+#     if use_kinematic:
+#         alpha_LF = 0.
+#         alpha_RF = 0.
+#         alpha_LR = 0.
+#         alpha_RR = 0.
+#     else:
+#         alpha_LF = np.arctan((x[10] + lf*x[5] - x[14]*(R_w - x[16]))/(x[3] + 0.5*T_f*x[5])) - x[2]
+#         alpha_RF = np.arctan((x[10] + lf*x[5] - x[14]*(R_w - x[16]))/(x[3] - 0.5*T_f*x[5])) - x[2]
+#         alpha_LR = np.arctan((x[10] - lr*x[5] - x[19]*(R_w - x[21]))/(x[3] + 0.5*T_r*x[5]))
+#         alpha_RR = np.arctan((x[10] - lr*x[5] - x[19]*(R_w - x[21]))/(x[3] - 0.5*T_r*x[5]))
+
+#     #auxiliary suspension movement
+#     z_SLF = (h_s - R_w + x[16] - x[11])/np.cos(x[6]) - h_s + R_w + lf*x[8] + 0.5*(x[6] - x[13])*T_f
+#     z_SRF = (h_s - R_w + x[16] - x[11])/np.cos(x[6]) - h_s + R_w + lf*x[8] - 0.5*(x[6] - x[13])*T_f
+#     z_SLR = (h_s - R_w + x[21] - x[11])/np.cos(x[6]) - h_s + R_w - lr*x[8] + 0.5*(x[6] - x[18])*T_r
+#     z_SRR = (h_s - R_w + x[21] - x[11])/np.cos(x[6]) - h_s + R_w - lr*x[8] - 0.5*(x[6] - x[18])*T_r
+
+#     dz_SLF = x[17] - x[12] + lf*x[9] + 0.5*(x[7] - x[14])*T_f
+#     dz_SRF = x[17] - x[12] + lf*x[9] - 0.5*(x[7] - x[14])*T_f
+#     dz_SLR = x[22] - x[12] - lr*x[9] + 0.5*(x[7] - x[19])*T_r
+#     dz_SRR = x[22] - x[12] - lr*x[9] - 0.5*(x[7] - x[19])*T_r
+    
+#     #camber angles
+#     gamma_LF = x[6] + D_f*z_SLF + E_f*(z_SLF)**2
+#     gamma_RF = x[6] - D_f*z_SRF - E_f*(z_SRF)**2
+#     gamma_LR = x[6] + D_r*z_SLR + E_r*(z_SLR)**2
+#     gamma_RR = x[6] - D_r*z_SRR - E_r*(z_SRR)**2
+
+#     #compute longitudinal tire forces using the magic formula for pure slip
+#     F0_x_LF = formula_longitudinal(s_lf, gamma_LF, F_z_LF, params)
+#     F0_x_RF = formula_longitudinal(s_rf, gamma_RF, F_z_RF, params)
+#     F0_x_LR = formula_longitudinal(s_lr, gamma_LR, F_z_LR, params)
+#     F0_x_RR = formula_longitudinal(s_rr, gamma_RR, F_z_RR, params)
+    
+#     #compute lateral tire forces using the magic formula for pure slip
+#     res = formula_lateral(alpha_LF, gamma_LF, F_z_LF, params)
+#     F0_y_LF = res[0]
+#     mu_y_LF = res[1]
+#     res = formula_lateral(alpha_RF, gamma_RF, F_z_RF, params)
+#     F0_y_RF = res[0]
+#     mu_y_RF = res[1]
+#     res = formula_lateral(alpha_LR, gamma_LR, F_z_LR, params)
+#     F0_y_LR = res[0]
+#     mu_y_LR = res[1]
+#     res = formula_lateral(alpha_RR, gamma_RR, F_z_RR, params)
+#     F0_y_RR = res[0]
+#     mu_y_RR = res[1]
+
+#     #compute longitudinal tire forces using the magic formula for combined slip
+#     F_x_LF = formula_longitudinal_comb(s_lf, alpha_LF, F0_x_LF, params)
+#     F_x_RF = formula_longitudinal_comb(s_rf, alpha_RF, F0_x_RF, params)
+#     F_x_LR = formula_longitudinal_comb(s_lr, alpha_LR, F0_x_LR, params)
+#     F_x_RR = formula_longitudinal_comb(s_rr, alpha_RR, F0_x_RR, params)
+
+#     #compute lateral tire forces using the magic formula for combined slip
+#     F_y_LF = formula_lateral_comb(s_lf, alpha_LF, gamma_LF, mu_y_LF, F_z_LF, F0_y_LF, params)
+#     F_y_RF = formula_lateral_comb(s_rf, alpha_RF, gamma_RF, mu_y_RF, F_z_RF, F0_y_RF, params)
+#     F_y_LR = formula_lateral_comb(s_lr, alpha_LR, gamma_LR, mu_y_LR, F_z_LR, F0_y_LR, params)
+#     F_y_RR = formula_lateral_comb(s_rr, alpha_RR, gamma_RR, mu_y_RR, F_z_RR, F0_y_RR, params)
+    
+#     #auxiliary movements for compliant joint equations
+#     delta_z_f = h_s - R_w + x[16] - x[11]
+#     delta_z_r = h_s - R_w + x[21] - x[11]
+
+#     delta_phi_f = x[6] - x[13]
+#     delta_phi_r = x[6] - x[18]
+
+#     dot_delta_phi_f = x[7] - x[14]
+#     dot_delta_phi_r = x[7] - x[19]
+
+#     dot_delta_z_f = x[17] - x[12]
+#     dot_delta_z_r = x[22] - x[12]
+
+#     dot_delta_y_f = x[10] + lf*x[5] - x[15]
+#     dot_delta_y_r = x[10] - lr*x[5] - x[20]
+
+#     delta_f = delta_z_f*np.sin(x[6]) - x[27]*np.cos(x[6]) - (h_raf - R_w)*np.sin(delta_phi_f)
+#     delta_r = delta_z_r*np.sin(x[6]) - x[28]*np.cos(x[6]) - (h_rar - R_w)*np.sin(delta_phi_r)
+
+#     dot_delta_f = (delta_z_f*np.cos(x[6]) + x[27]*np.sin(x[6]))*x[7] + dot_delta_z_f*np.sin(x[6]) - dot_delta_y_f*np.cos(x[6]) - (h_raf - R_w)*np.cos(delta_phi_f)*dot_delta_phi_f
+#     dot_delta_r = (delta_z_r*np.cos(x[6]) + x[28]*np.sin(x[6]))*x[7] + dot_delta_z_r*np.sin(x[6]) - dot_delta_y_r*np.cos(x[6]) - (h_rar - R_w)*np.cos(delta_phi_r)*dot_delta_phi_r
+
+#     #compliant joint forces
+#     F_RAF = delta_f*K_ras + dot_delta_f*K_rad
+#     F_RAR = delta_r*K_ras + dot_delta_r*K_rad
+    
+#     #auxiliary suspension forces (bump stop neglected  squat/lift forces neglected)
+#     F_SLF = m_s*g*lr/(2*(lf+lr)) - z_SLF*K_sf - dz_SLF*K_sdf + (x[6] - x[13])*K_tsf/T_f
+
+#     F_SRF = m_s*g*lr/(2*(lf+lr)) - z_SRF*K_sf - dz_SRF*K_sdf - (x[6] - x[13])*K_tsf/T_f
+
+#     F_SLR = m_s*g*lf/(2*(lf+lr)) - z_SLR*K_sr - dz_SLR*K_sdr + (x[6] - x[18])*K_tsr/T_r
+
+#     F_SRR = m_s*g*lf/(2*(lf+lr)) - z_SRR*K_sr - dz_SRR*K_sdr - (x[6] - x[18])*K_tsr/T_r
+
+#     #auxiliary variables sprung mass
+#     sumX = F_x_LR + F_x_RR + (F_x_LF + F_x_RF)*np.cos(x[2]) - (F_y_LF + F_y_RF)*np.sin(x[2])
+
+#     sumN = (F_y_LF + F_y_RF)*lf*np.cos(x[2]) + (F_x_LF + F_x_RF)*lf*np.sin(x[2]) \
+#            + (F_y_RF - F_y_LF)*0.5*T_f*np.sin(x[2]) + (F_x_LF - F_x_RF)*0.5*T_f*np.cos(x[2]) \
+#            + (F_x_LR - F_x_RR)*0.5*T_r - (F_y_LR + F_y_RR)*lr
+
+#     sumY_s = (F_RAF + F_RAR)*np.cos(x[6]) + (F_SLF + F_SLR + F_SRF + F_SRR)*np.sin(x[6])
+
+#     sumL = 0.5*F_SLF*T_f + 0.5*F_SLR*T_r - 0.5*F_SRF*T_f - 0.5*F_SRR*T_r \
+#            - F_RAF/np.cos(x[6])*(h_s - x[11] - R_w + x[16] - (h_raf - R_w)*np.cos(x[13])) \
+#            - F_RAR/np.cos(x[6])*(h_s - x[11] - R_w + x[21] - (h_rar - R_w)*np.cos(x[18]))
+
+#     sumZ_s = (F_SLF + F_SLR + F_SRF + F_SRR)*np.cos(x[6]) - (F_RAF + F_RAR)*np.sin(x[6])
+
+#     sumM_s = lf*(F_SLF + F_SRF) - lr*(F_SLR + F_SRR) + ((F_x_LF + F_x_RF)*np.cos(x[2]) \
+#                                                           - (F_y_LF + F_y_RF)*np.sin(x[2]) + F_x_LR + F_x_RR)*(h_s - x[11])
+
+#     #auxiliary variables unsprung mass
+#     sumL_uf = 0.5*F_SRF*T_f - 0.5*F_SLF*T_f - F_RAF*(h_raf - R_w) \
+#               + F_z_LF*(R_w*np.sin(x[13]) + 0.5*T_f*np.cos(x[13]) - K_lt*F_y_LF) \
+#               - F_z_RF*(-R_w*np.sin(x[13]) + 0.5*T_f*np.cos(x[13]) + K_lt*F_y_RF) \
+#               - ((F_y_LF + F_y_RF)*np.cos(x[2]) + (F_x_LF + F_x_RF)*np.sin(x[2]))*(R_w - x[16])
+
+#     sumL_ur = 0.5*F_SRR*T_r - 0.5*F_SLR*T_r - F_RAR*(h_rar - R_w) \
+#               + F_z_LR*(R_w*np.sin(x[18]) + 0.5*T_r*np.cos(x[18]) - K_lt*F_y_LR) \
+#               - F_z_RR*(-R_w*np.sin(x[18]) + 0.5*T_r*np.cos(x[18]) + K_lt*F_y_RR) \
+#               - (F_y_LR + F_y_RR)*(R_w - x[21])
+
+#     sumZ_uf = F_z_LF + F_z_RF + F_RAF*np.sin(x[6]) - (F_SLF + F_SRF)*np.cos(x[6])
+
+#     sumZ_ur = F_z_LR + F_z_RR + F_RAR*np.sin(x[6]) - (F_SLR + F_SRR)*np.cos(x[6])
+
+#     sumY_uf = (F_y_LF + F_y_RF)*np.cos(x[2]) + (F_x_LF + F_x_RF)*np.sin(x[2]) \
+#               - F_RAF*np.cos(x[6]) - (F_SLF + F_SRF)*np.sin(x[6])
+
+#     sumY_ur = (F_y_LR + F_y_RR) \
+#               - F_RAR*np.cos(x[6]) - (F_SLR + F_SRR)*np.sin(x[6])
+
+
+#     # dynamics common with single-track model
+#     f = np.zeros((29,))# init 'right hand side'
+#     # switch to kinematic model for small velocities
+#     if use_kinematic:
+#         # wheelbase
+#         # lwb = lf + lr
+
+#         # system dynamics
+#         # x_ks = [x[0],  x[1],  x[2],  x[3],  x[4]]
+#         # f_ks = vehicle_dynamics_ks(x_ks, u, p)
+#         # f.extend(f_ks)
+#         # f.append(u[1]*lwb*np.tan(x[2]) + x[3]/(lwb*np.cos(x[2])**2)*u[0])
+
+#         # Use kinematic model with reference point at center of mass
+#         # wheelbase
+#         lwb = lf + lr
+
+#         # system dynamics
+#         x_ks = x[0:5]
+#         # kinematic model
+#         # f_ks = vehicle_dynamics_ks_cog(x_ks, u, p)
+#         # f = [f_ks[0], f_ks[1], f_ks[2], f_ks[3], f_ks[4]] # 1 2 3 4 5
+#         f_ks = vehicle_dynamics_ks_cog(x_ks, u, 0., 0., 0., lf, lr, 0., 0., 0., s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max, 0., 0.)
+#         f[0:5] = f_ks
+#         # derivative of slip angle and yaw rate
+#         d_beta = (lr * u[0]) / (lwb * np.cos(x[2]) ** 2 * (1 + (np.tan(x[2]) ** 2 * lr / lwb) ** 2))
+#         dd_psi = 1 / lwb * (u[1] * np.cos(x[6]) * np.tan(x[2]) -
+#                             x[3] * np.sin(x[6]) * d_beta * np.tan(x[2]) +
+#                             x[3] * np.cos(x[6]) * u[0] / np.cos(x[2]) ** 2)
+#         # f.append(dd_psi) # 6
+#         f[5] = dd_psi
+
+#     else:
+#         f[0] = np.cos(beta + x[4])*vel # 1
+#         f[1] = np.sin(beta + x[4])*vel # 2
+#         f[2] = u[0] # 3
+#         f[3] = 1/m*sumX + x[5]*x[10] # 4
+#         f[4] = x[5] # 5
+#         f[5] = 1/(I_z - (I_xz_s)**2/I_Phi_s)*(sumN + I_xz_s/I_Phi_s*sumL) # 6
+
+
+#     # remaining sprung mass dynamics
+#     f[6] = x[7] # 7
+#     f[7] = 1/(I_Phi_s - (I_xz_s)**2/I_z)*(I_xz_s/I_z*sumN + sumL) # 8
+#     f[8] = x[9] # 9
+#     f[9] = 1/I_y_s*sumM_s # 10
+#     f[10] = 1/m_s*sumY_s - x[5]*x[3] # 11
+#     f[11] = x[12] # 12
+#     f[12] = g - 1/m_s*sumZ_s # 13
+
+#     #unsprung mass dynamics (front)
+#     f[13] = x[14] # 14
+#     f[14] = 1/I_uf*sumL_uf # 15
+#     f[15] = 1/m_uf*sumY_uf - x[5]*x[3] # 16
+#     f[16] = x[17] # 17
+#     f[17] = g - 1/m_uf*sumZ_uf # 18
+
+#     #unsprung mass dynamics (rear)
+#     f[18] = x[19] # 19
+#     f[19] = 1/I_ur*sumL_ur # 20
+#     f[20] = 1/m_ur*sumY_ur - x[5]*x[3] # 21
+#     f[21] = x[22] # 22
+#     f[22] = g - 1/m_ur*sumZ_ur # 23
+
+#     # convert acceleration input to brake and engine torque
+#     if u[1] > 0:
+#         T_B = 0.0
+#         T_E = m * R_w * u[1]
+#     else:
+#         T_B = m * R_w * u[1]
+#         T_E = 0.0
+
+#     #wheel dynamics (p.T  new parameter for torque splitting) - splitting for brake/drive torque is outside of the integration
+#     f[23] = (
+#         1
+#         / I_y_w
+#         * (
+#             -R_w * F_x_LF
+#             + 0.5 * T_sb * T_B
+#             + 0.5 * T_se * T_E
+#         )
+#     )
+#     f[24] = (
+#         1
+#         / I_y_w
+#         * (
+#             -R_w * F_x_RF
+#             + 0.5 * T_sb * T_B
+#             + 0.5 * T_se * T_E
+#         )
+#     )
+#     f[25] = (
+#         1
+#         / I_y_w
+#         * (
+#             -R_w * F_x_LR
+#             + 0.5 * (1 - T_sb) * T_B
+#             + 0.5 * (1 - T_se) * T_E
+#         )
+#     )
+#     f[26] = (
+#         1
+#         / I_y_w
+#         * (
+#             -R_w * F_x_RR
+#             + 0.5 * (1 - T_sb) * T_B
+#             + 0.5 * (1 - T_se) * T_E
+#         )
+#     )
+
+#     #negative wheel spin forbidden handeled outside of this function
+#     for iState in range(23, 27):
+#         if x[iState] < 0.0:
+#             x[iState] = 0.0
+#             f[iState] = 0.0
+
+#     #compliant joint equations
+#     f[27] = dot_delta_y_f # 28
+#     f[28] = dot_delta_y_r # 29
+
+#     # longitudinal slip
+#     # s_lf
+#     # s_rf
+#     # s_lr
+#     # s_rr
+
+#     # lateral slip
+#     # alpha_LF
+#     # alpha_RF
+#     # alpha_LR
+#     # alpha_RR
+
+#     # return f, F_x_LF, F_x_RF, F_x_LR, F_x_RR, F_y_LF, F_y_RF, F_y_LR, F_y_RR, \
+#     #     s_lf, s_rf, s_lr, s_rr, alpha_LF, alpha_RF, alpha_LR, alpha_RR, \
+#     #     F_z_LF, F_z_RF, F_z_LR, F_z_RR
+#     return f
+
 @njit(cache=True)
 def get_standardized_state_mb(x: np.ndarray) -> np.ndarray:
     """[X,Y,Steering_Angle,Speed,YAW,YAW_RATE,V_Y]"""
diff --git a/f1tenth_gym/envs/dynamic_models/multi_body/tire_model.py b/f1tenth_gym/envs/dynamic_models/multi_body/tire_model.py
index e18d38a1..a89513cb 100644
--- a/f1tenth_gym/envs/dynamic_models/multi_body/tire_model.py
+++ b/f1tenth_gym/envs/dynamic_models/multi_body/tire_model.py
@@ -1,17 +1,3 @@
-# Copyright 2020 Technical University of Munich, Professorship of Cyber-Physical Systems, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
-
-# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
-
-# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
-
-# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
-
-# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
-
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-
-
 import numpy as np
 from numba import njit
 
@@ -19,15 +5,21 @@
 # longitudinal tire forces
 @njit(cache=True)
 def formula_longitudinal(kappa, gamma, F_z, params):
-
     # longitudinal coefficients
-    tire_p_cx1 = params[46]  # Shape factor Cfx for longitudinal force
-    tire_p_dx1 = params[47]  # Longitudinal friction Mux at Fznom
-    tire_p_dx3 = params[48]  # Variation of friction Mux with camber
-    tire_p_ex1 = params[49]  # Longitudinal curvature Efx at Fznom
-    tire_p_kx1 = params[50]  # Longitudinal slip stiffness Kfx/Fz at Fznom
-    tire_p_hx1 = params[51]  # Horizontal shift Shx at Fznom
-    tire_p_vx1 = params[52]  # Vertical shift Svx/Fz at Fznom
+    # tire_p_cx1 = params["tire_p_cx1"]  # Shape factor Cfx for longitudinal force
+    # tire_p_dx1 = params["tire_p_dx1"]  # Longitudinal friction Mux at Fznom
+    # tire_p_dx3 = params["tire_p_dx3"]  # Variation of friction Mux with camber
+    # tire_p_ex1 = params["tire_p_ex1"]  # Longitudinal curvature Efx at Fznom
+    # tire_p_kx1 = params["tire_p_kx1"]  # Longitudinal slip stiffness Kfx/Fz at Fznom
+    # tire_p_hx1 = params["tire_p_hx1"]  # Horizontal shift Shx at Fznom
+    # tire_p_vx1 = params["tire_p_vx1"]  # Vertical shift Svx/Fz at Fznom
+    tire_p_cx1 = params[55]  # shape factor Cfx
+    tire_p_dx1 = params[56]  # peak longitudinal friction
+    tire_p_dx3 = params[57]  # friction variation with camber
+    tire_p_ex1 = params[58]  # curvature factor Efx
+    tire_p_kx1 = params[59]  # slip stiffness Kfx/Fz
+    tire_p_hx1 = params[60]  # horizontal shift Shx
+    tire_p_vx1 = params[61]  # vertical shift Svx/Fz
 
     # turn slip is neglected, so xi_i=1
     # all scaling factors lambda = 1
@@ -39,7 +31,7 @@ def formula_longitudinal(kappa, gamma, F_z, params):
     S_vx = F_z * tire_p_vx1
 
     kappa_x = kappa + S_hx
-    mu_x = tire_p_dx1 * (1 - tire_p_dx3 * gamma ** 2)
+    mu_x = tire_p_dx1 * (1 - tire_p_dx3 * gamma**2)
 
     C_x = tire_p_cx1
     D_x = mu_x * F_z
@@ -48,23 +40,35 @@ def formula_longitudinal(kappa, gamma, F_z, params):
     B_x = K_x / (C_x * D_x)
 
     # magic tire formula
-    return D_x * np.sin(C_x * np.arctan(B_x * kappa_x - E_x * (B_x * kappa_x - np.arctan(B_x * kappa_x))) + S_vx)
+    return D_x * np.sin(
+        C_x
+        * np.arctan(B_x * kappa_x - E_x * (B_x * kappa_x - np.arctan(B_x * kappa_x)))
+        + S_vx
+    )
 
 
 # lateral tire forces
 @njit(cache=True)
 def formula_lateral(alpha, gamma, F_z, params):
-
     # lateral coefficients
-    tire_p_cy1 = params[58]  # Shape factor Cfy for lateral forces
-    tire_p_dy1 = params[59]  # Lateral friction Muy
-    tire_p_dy3 = params[60]  # Variation of friction Muy with squared camber
-    tire_p_ey1 = params[61]  # Lateral curvature Efy at Fznom
-    tire_p_ky1 = params[62]  # Maximum value of stiffness Kfy/Fznom
-    tire_p_hy1 = params[63]  # Horizontal shift Shy at Fznom
-    tire_p_hy3 = params[64]  # Variation of shift Shy with camber
-    tire_p_vy1 = params[65]  # Vertical shift in Svy/Fz at Fznom
-    tire_p_vy3 = params[66]  # Variation of shift Svy/Fz with camber
+    # tire_p_cy1 = params["tire_p_cy1"]  # Shape factor Cfy for lateral forces
+    # tire_p_dy1 = params["tire_p_dy1"]  # Lateral friction Muy
+    # tire_p_dy3 = params["tire_p_dy3"]  # Variation of friction Muy with squared camber
+    # tire_p_ey1 = params["tire_p_ey1"]  # Lateral curvature Efy at Fznom
+    # tire_p_ky1 = params["tire_p_ky1"]  # Maximum value of stiffness Kfy/Fznom
+    # tire_p_hy1 = params["tire_p_hy1"]  # Horizontal shift Shy at Fznom
+    # tire_p_hy3 = params["tire_p_hy3"]  # Variation of shift Shy with camber
+    # tire_p_vy1 = params["tire_p_vy1"]  # Vertical shift in Svy/Fz at Fznom
+    # tire_p_vy3 = params["tire_p_vy3"]  # Variation of shift Svy/Fz with camber
+    tire_p_cy1 = params[67]  # shape factor Cfy
+    tire_p_dy1 = params[68]  # lateral friction Muy
+    tire_p_dy3 = params[69]  # friction variation with camber²
+    tire_p_ey1 = params[70]  # curvature factor Efy
+    tire_p_ky1 = params[71]  # stiffness Kfy/Fz
+    tire_p_hy1 = params[72]  # horizontal shift Shy
+    tire_p_hy3 = params[73]  # shift variation with camber
+    tire_p_vy1 = params[74]  # vertical shift Svy/Fz
+    tire_p_vy3 = params[75]  # Svy/Fz variation with camber
 
     # turn slip is neglected, so xi_i=1
     # all scaling factors lambda = 1
@@ -76,7 +80,7 @@ def formula_lateral(alpha, gamma, F_z, params):
     S_vy = np.sign(gamma) * F_z * (tire_p_vy1 + tire_p_vy3 * np.fabs(gamma))
 
     alpha_y = alpha + S_hy
-    mu_y = tire_p_dy1 * (1 - tire_p_dy3 * gamma ** 2)
+    mu_y = tire_p_dy1 * (1 - tire_p_dy3 * gamma**2)
 
     C_y = tire_p_cy1
     D_y = mu_y * F_z
@@ -85,7 +89,16 @@ def formula_lateral(alpha, gamma, F_z, params):
     B_y = K_y / (C_y * D_y)
 
     # magic tire formula
-    F_y = D_y * np.sin(C_y * np.arctan(B_y * alpha_y - E_y * (B_y * alpha_y - np.arctan(B_y * alpha_y)))) + S_vy
+    F_y = (
+        D_y
+        * np.sin(
+            C_y
+            * np.arctan(
+                B_y * alpha_y - E_y * (B_y * alpha_y - np.arctan(B_y * alpha_y))
+            )
+        )
+        + S_vy
+    )
 
     res = []
     res.append(F_y)
@@ -96,15 +109,19 @@ def formula_lateral(alpha, gamma, F_z, params):
 # longitudinal tire forces for combined slip
 @njit(cache=True)
 def formula_longitudinal_comb(kappa, alpha, F0_x, params):
-
     # longitudinal coefficients
-    tire_r_bx1 = params[53]  # Slope factor for combined slip Fx reduction
-    tire_r_bx2 = params[54]  # Variation of slope Fx reduction with kappa
-    tire_r_cx1 = params[55]  # Shape factor for combined slip Fx reduction
-    tire_r_ex1 = params[56]  # Curvature factor of combined Fx
-    tire_r_hx1 = params[57]  # Shift factor for combined slip Fx reduction
-
-    # turn slip is neglected, so xi_i=1
+    # tire_r_bx1 = params["tire_r_bx1"]  # Slope factor for combined slip Fx reduction
+    # tire_r_bx2 = params["tire_r_bx2"]  # Variation of slope Fx reduction with kappa
+    # tire_r_cx1 = params["tire_r_cx1"]  # Shape factor for combined slip Fx reduction
+    # tire_r_ex1 = params["tire_r_ex1"]  # Curvature factor of combined Fx
+    # tire_r_hx1 = params["tire_r_hx1"]  # Shift factor for combined slip Fx reduction
+    tire_r_bx1 = params[62]  # slope for Fx reduction
+    tire_r_bx2 = params[63]  # Fx slope variation w/ kappa
+    tire_r_cx1 = params[64]  # shape factor for Fx reduction
+    tire_r_ex1 = params[65]  # curvature for Fx reduction
+    tire_r_hx1 = params[66]  # shift for Fx reduction
+
+    # turn slip '' neglected, so xi_i=1
     # all scaling factors lambda = 1
 
     S_hxalpha = tire_r_hx1
@@ -114,30 +131,52 @@ def formula_longitudinal_comb(kappa, alpha, F0_x, params):
     B_xalpha = tire_r_bx1 * np.cos(np.arctan(tire_r_bx2 * kappa))
     C_xalpha = tire_r_cx1
     E_xalpha = tire_r_ex1
-    D_xalpha = F0_x / (np.cos(C_xalpha * np.arctan(
-        B_xalpha * S_hxalpha - E_xalpha * (B_xalpha * S_hxalpha - np.arctan(B_xalpha * S_hxalpha)))))
+    D_xalpha = F0_x / (
+        np.cos(
+            C_xalpha
+            * np.arctan(
+                B_xalpha * S_hxalpha
+                - E_xalpha * (B_xalpha * S_hxalpha - np.arctan(B_xalpha * S_hxalpha))
+            )
+        )
+    )
 
     # magic tire formula
     return D_xalpha * np.cos(
-        C_xalpha * np.arctan(B_xalpha * alpha_s - E_xalpha * (B_xalpha * alpha_s - np.arctan(B_xalpha * alpha_s))))
+        C_xalpha
+        * np.arctan(
+            B_xalpha * alpha_s
+            - E_xalpha * (B_xalpha * alpha_s - np.arctan(B_xalpha * alpha_s))
+        )
+    )
 
 
 # lateral tire forces for combined slip
 @njit(cache=True)
 def formula_lateral_comb(kappa, alpha, gamma, mu_y, F_z, F0_y, params):
-
     # lateral coefficients
-    tire_r_by1 = params[67]  # Slope factor for combined Fy reduction
-    tire_r_by2 = params[68]  # Variation of slope Fy reduction with alpha
-    tire_r_by3 = params[69]  # Shift term for alpha in slope Fy reduction
-    tire_r_cy1 = params[70]  # Shape factor for combined Fy reduction
-    tire_r_ey1 = params[71]  # Curvature factor of combined Fy
-    tire_r_hy1 = params[72]  # Shift factor for combined Fy reduction
-    tire_r_vy1 = params[73]  # Kappa induced side force Svyk/Muy*Fz at Fznom
-    tire_r_vy3 = params[74]  # Variation of Svyk/Muy*Fz with camber
-    tire_r_vy4 = params[75]  # Variation of Svyk/Muy*Fz with alpha
-    tire_r_vy5 = params[76]  # Variation of Svyk/Muy*Fz with kappa
-    tire_r_vy6 = params[77]  # Variation of Svyk/Muy*Fz with atan(kappa)
+    # tire_r_by1 = params["tire_r_by1"]  # Slope factor for combined Fy reduction
+    # tire_r_by2 = params["tire_r_by2"]  # Variation of slope Fy reduction with alpha
+    # tire_r_by3 = params["tire_r_by3"]  # Shift term for alpha in slope Fy reduction
+    # tire_r_cy1 = params["tire_r_cy1"]  # Shape factor for combined Fy reduction
+    # tire_r_ey1 = params["tire_r_ey1"]  # Curvature factor of combined Fy
+    # tire_r_hy1 = params["tire_r_hy1"]  # Shift factor for combined Fy reduction
+    # tire_r_vy1 = params["tire_r_vy1"]  # Kappa induced side force Svyk/Muy*Fz at Fznom
+    # tire_r_vy3 = params["tire_r_vy3"]  # Variation of Svyk/Muy*Fz with camber
+    # tire_r_vy4 = params["tire_r_vy4"]  # Variation of Svyk/Muy*Fz with alpha
+    # tire_r_vy5 = params["tire_r_vy5"]  # Variation of Svyk/Muy*Fz with kappa
+    # tire_r_vy6 = params["tire_r_vy6"]  # Variation of Svyk/Muy*Fz with atan(kappa)
+    tire_r_by1 = params[76]  # slope for Fy reduction
+    tire_r_by2 = params[77]  # slope variation with alpha
+    tire_r_by3 = params[78]  # alpha shift in Fy slope
+    tire_r_cy1 = params[79]  # shape factor for Fy reduction
+    tire_r_ey1 = params[80]  # curvature for Fy reduction
+    tire_r_hy1 = params[81]  # shift for Fy reduction
+    tire_r_vy1 = params[82]  # kappa-induced side force
+    tire_r_vy3 = params[83]  # side force variation w/ camber
+    tire_r_vy4 = params[84]  # variation w/ alpha
+    tire_r_vy5 = params[85]  # variation w/ kappa
+    tire_r_vy6 = params[86]  # variation w/ atan(kappa)
 
     # turn slip is neglected, so xi_i=1
     # all scaling factors lambda = 1
@@ -149,12 +188,33 @@ def formula_lateral_comb(kappa, alpha, gamma, mu_y, F_z, F0_y, params):
     B_ykappa = tire_r_by1 * np.cos(np.arctan(tire_r_by2 * (alpha - tire_r_by3)))
     C_ykappa = tire_r_cy1
     E_ykappa = tire_r_ey1
-    D_ykappa = F0_y / (np.cos(C_ykappa * np.arctan(
-        B_ykappa * S_hykappa - E_ykappa * (B_ykappa * S_hykappa - np.arctan(B_ykappa * S_hykappa)))))
-
-    D_vykappa = mu_y * F_z * (tire_r_vy1 + tire_r_vy3 * gamma) * np.cos(np.arctan(tire_r_vy4 * alpha))
+    D_ykappa = F0_y / (
+        np.cos(
+            C_ykappa
+            * np.arctan(
+                B_ykappa * S_hykappa
+                - E_ykappa * (B_ykappa * S_hykappa - np.arctan(B_ykappa * S_hykappa))
+            )
+        )
+    )
+
+    D_vykappa = (
+        mu_y
+        * F_z
+        * (tire_r_vy1 + tire_r_vy3 * gamma)
+        * np.cos(np.arctan(tire_r_vy4 * alpha))
+    )
     S_vykappa = D_vykappa * np.sin(tire_r_vy5 * np.arctan(tire_r_vy6 * kappa))
 
     # magic tire formula
-    return D_ykappa * np.cos(C_ykappa * np.arctan(
-        B_ykappa * kappa_s - E_ykappa * (B_ykappa * kappa_s - np.arctan(B_ykappa * kappa_s)))) + S_vykappa
+    return (
+        D_ykappa
+        * np.cos(
+            C_ykappa
+            * np.arctan(
+                B_ykappa * kappa_s
+                - E_ykappa * (B_ykappa * kappa_s - np.arctan(B_ykappa * kappa_s))
+            )
+        )
+        + S_vykappa
+    )
diff --git a/f1tenth_gym/envs/dynamic_models/multi_body/tire_model_new.py b/f1tenth_gym/envs/dynamic_models/multi_body/tire_model_new.py
deleted file mode 100644
index 6fc6f704..00000000
--- a/f1tenth_gym/envs/dynamic_models/multi_body/tire_model_new.py
+++ /dev/null
@@ -1,184 +0,0 @@
-import numpy as np
-from numba import njit
-
-
-# longitudinal tire forces
-def formula_longitudinal(kappa, gamma, F_z, params: dict):
-    # longitudinal coefficients
-    tire_p_cx1 = params["tire_p_cx1"]  # Shape factor Cfx for longitudinal force
-    tire_p_dx1 = params["tire_p_dx1"]  # Longitudinal friction Mux at Fznom
-    tire_p_dx3 = params["tire_p_dx3"]  # Variation of friction Mux with camber
-    tire_p_ex1 = params["tire_p_ex1"]  # Longitudinal curvature Efx at Fznom
-    tire_p_kx1 = params["tire_p_kx1"]  # Longitudinal slip stiffness Kfx/Fz at Fznom
-    tire_p_hx1 = params["tire_p_hx1"]  # Horizontal shift Shx at Fznom
-    tire_p_vx1 = params["tire_p_vx1"]  # Vertical shift Svx/Fz at Fznom
-
-    # turn slip is neglected, so xi_i=1
-    # all scaling factors lambda = 1
-
-    # coordinate system transformation
-    kappa = -kappa
-
-    S_hx = tire_p_hx1
-    S_vx = F_z * tire_p_vx1
-
-    kappa_x = kappa + S_hx
-    mu_x = tire_p_dx1 * (1 - tire_p_dx3 * gamma**2)
-
-    C_x = tire_p_cx1
-    D_x = mu_x * F_z
-    E_x = tire_p_ex1
-    K_x = F_z * tire_p_kx1
-    B_x = K_x / (C_x * D_x)
-
-    # magic tire formula
-    return D_x * np.sin(
-        C_x
-        * np.arctan(B_x * kappa_x - E_x * (B_x * kappa_x - np.arctan(B_x * kappa_x)))
-        + S_vx
-    )
-
-
-# lateral tire forces
-def formula_lateral(alpha, gamma, F_z, params: dict):
-    # lateral coefficients
-    tire_p_cy1 = params["tire_p_cy1"]  # Shape factor Cfy for lateral forces
-    tire_p_dy1 = params["tire_p_dy1"]  # Lateral friction Muy
-    tire_p_dy3 = params["tire_p_dy3"]  # Variation of friction Muy with squared camber
-    tire_p_ey1 = params["tire_p_ey1"]  # Lateral curvature Efy at Fznom
-    tire_p_ky1 = params["tire_p_ky1"]  # Maximum value of stiffness Kfy/Fznom
-    tire_p_hy1 = params["tire_p_hy1"]  # Horizontal shift Shy at Fznom
-    tire_p_hy3 = params["tire_p_hy3"]  # Variation of shift Shy with camber
-    tire_p_vy1 = params["tire_p_vy1"]  # Vertical shift in Svy/Fz at Fznom
-    tire_p_vy3 = params["tire_p_vy3"]  # Variation of shift Svy/Fz with camber
-
-    # turn slip is neglected, so xi_i=1
-    # all scaling factors lambda = 1
-
-    # coordinate system transformation
-    # alpha = -alpha
-
-    S_hy = np.sign(gamma) * (tire_p_hy1 + tire_p_hy3 * np.fabs(gamma))
-    S_vy = np.sign(gamma) * F_z * (tire_p_vy1 + tire_p_vy3 * np.fabs(gamma))
-
-    alpha_y = alpha + S_hy
-    mu_y = tire_p_dy1 * (1 - tire_p_dy3 * gamma**2)
-
-    C_y = tire_p_cy1
-    D_y = mu_y * F_z
-    E_y = tire_p_ey1
-    K_y = F_z * tire_p_ky1  # simplify K_y0 to tire_p_ky1*F_z
-    B_y = K_y / (C_y * D_y)
-
-    # magic tire formula
-    F_y = (
-        D_y
-        * np.sin(
-            C_y
-            * np.arctan(
-                B_y * alpha_y - E_y * (B_y * alpha_y - np.arctan(B_y * alpha_y))
-            )
-        )
-        + S_vy
-    )
-
-    res = []
-    res.append(F_y)
-    res.append(mu_y)
-    return res
-
-
-# longitudinal tire forces for combined slip
-def formula_longitudinal_comb(kappa, alpha, F0_x, params: dict):
-    # longitudinal coefficients
-    tire_r_bx1 = params["tire_r_bx1"]  # Slope factor for combined slip Fx reduction
-    tire_r_bx2 = params["tire_r_bx2"]  # Variation of slope Fx reduction with kappa
-    tire_r_cx1 = params["tire_r_cx1"]  # Shape factor for combined slip Fx reduction
-    tire_r_ex1 = params["tire_r_ex1"]  # Curvature factor of combined Fx
-    tire_r_hx1 = params["tire_r_hx1"]  # Shift factor for combined slip Fx reduction
-
-    # turn slip '' neglected, so xi_i=1
-    # all scaling factors lambda = 1
-
-    S_hxalpha = tire_r_hx1
-
-    alpha_s = alpha + S_hxalpha
-
-    B_xalpha = tire_r_bx1 * np.cos(np.arctan(tire_r_bx2 * kappa))
-    C_xalpha = tire_r_cx1
-    E_xalpha = tire_r_ex1
-    D_xalpha = F0_x / (
-        np.cos(
-            C_xalpha
-            * np.arctan(
-                B_xalpha * S_hxalpha
-                - E_xalpha * (B_xalpha * S_hxalpha - np.arctan(B_xalpha * S_hxalpha))
-            )
-        )
-    )
-
-    # magic tire formula
-    return D_xalpha * np.cos(
-        C_xalpha
-        * np.arctan(
-            B_xalpha * alpha_s
-            - E_xalpha * (B_xalpha * alpha_s - np.arctan(B_xalpha * alpha_s))
-        )
-    )
-
-
-# lateral tire forces for combined slip
-def formula_lateral_comb(kappa, alpha, gamma, mu_y, F_z, F0_y, params: dict):
-    # lateral coefficients
-    tire_r_by1 = params["tire_r_by1"]  # Slope factor for combined Fy reduction
-    tire_r_by2 = params["tire_r_by2"]  # Variation of slope Fy reduction with alpha
-    tire_r_by3 = params["tire_r_by3"]  # Shift term for alpha in slope Fy reduction
-    tire_r_cy1 = params["tire_r_cy1"]  # Shape factor for combined Fy reduction
-    tire_r_ey1 = params["tire_r_ey1"]  # Curvature factor of combined Fy
-    tire_r_hy1 = params["tire_r_hy1"]  # Shift factor for combined Fy reduction
-    tire_r_vy1 = params["tire_r_vy1"]  # Kappa induced side force Svyk/Muy*Fz at Fznom
-    tire_r_vy3 = params["tire_r_vy3"]  # Variation of Svyk/Muy*Fz with camber
-    tire_r_vy4 = params["tire_r_vy4"]  # Variation of Svyk/Muy*Fz with alpha
-    tire_r_vy5 = params["tire_r_vy5"]  # Variation of Svyk/Muy*Fz with kappa
-    tire_r_vy6 = params["tire_r_vy6"]  # Variation of Svyk/Muy*Fz with atan(kappa)
-
-    # turn slip is neglected, so xi_i=1
-    # all scaling factors lambda = 1
-
-    S_hykappa = tire_r_hy1
-
-    kappa_s = kappa + S_hykappa
-
-    B_ykappa = tire_r_by1 * np.cos(np.arctan(tire_r_by2 * (alpha - tire_r_by3)))
-    C_ykappa = tire_r_cy1
-    E_ykappa = tire_r_ey1
-    D_ykappa = F0_y / (
-        np.cos(
-            C_ykappa
-            * np.arctan(
-                B_ykappa * S_hykappa
-                - E_ykappa * (B_ykappa * S_hykappa - np.arctan(B_ykappa * S_hykappa))
-            )
-        )
-    )
-
-    D_vykappa = (
-        mu_y
-        * F_z
-        * (tire_r_vy1 + tire_r_vy3 * gamma)
-        * np.cos(np.arctan(tire_r_vy4 * alpha))
-    )
-    S_vykappa = D_vykappa * np.sin(tire_r_vy5 * np.arctan(tire_r_vy6 * kappa))
-
-    # magic tire formula
-    return (
-        D_ykappa
-        * np.cos(
-            C_ykappa
-            * np.arctan(
-                B_ykappa * kappa_s
-                - E_ykappa * (B_ykappa * kappa_s - np.arctan(B_ykappa * kappa_s))
-            )
-        )
-        + S_vykappa
-    )
diff --git a/f1tenth_gym/envs/dynamic_models/multi_body/tire_model_old.py b/f1tenth_gym/envs/dynamic_models/multi_body/tire_model_old.py
new file mode 100644
index 00000000..e18d38a1
--- /dev/null
+++ b/f1tenth_gym/envs/dynamic_models/multi_body/tire_model_old.py
@@ -0,0 +1,160 @@
+# Copyright 2020 Technical University of Munich, Professorship of Cyber-Physical Systems, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
+
+# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+
+import numpy as np
+from numba import njit
+
+
+# longitudinal tire forces
+@njit(cache=True)
+def formula_longitudinal(kappa, gamma, F_z, params):
+
+    # longitudinal coefficients
+    tire_p_cx1 = params[46]  # Shape factor Cfx for longitudinal force
+    tire_p_dx1 = params[47]  # Longitudinal friction Mux at Fznom
+    tire_p_dx3 = params[48]  # Variation of friction Mux with camber
+    tire_p_ex1 = params[49]  # Longitudinal curvature Efx at Fznom
+    tire_p_kx1 = params[50]  # Longitudinal slip stiffness Kfx/Fz at Fznom
+    tire_p_hx1 = params[51]  # Horizontal shift Shx at Fznom
+    tire_p_vx1 = params[52]  # Vertical shift Svx/Fz at Fznom
+
+    # turn slip is neglected, so xi_i=1
+    # all scaling factors lambda = 1
+
+    # coordinate system transformation
+    kappa = -kappa
+
+    S_hx = tire_p_hx1
+    S_vx = F_z * tire_p_vx1
+
+    kappa_x = kappa + S_hx
+    mu_x = tire_p_dx1 * (1 - tire_p_dx3 * gamma ** 2)
+
+    C_x = tire_p_cx1
+    D_x = mu_x * F_z
+    E_x = tire_p_ex1
+    K_x = F_z * tire_p_kx1
+    B_x = K_x / (C_x * D_x)
+
+    # magic tire formula
+    return D_x * np.sin(C_x * np.arctan(B_x * kappa_x - E_x * (B_x * kappa_x - np.arctan(B_x * kappa_x))) + S_vx)
+
+
+# lateral tire forces
+@njit(cache=True)
+def formula_lateral(alpha, gamma, F_z, params):
+
+    # lateral coefficients
+    tire_p_cy1 = params[58]  # Shape factor Cfy for lateral forces
+    tire_p_dy1 = params[59]  # Lateral friction Muy
+    tire_p_dy3 = params[60]  # Variation of friction Muy with squared camber
+    tire_p_ey1 = params[61]  # Lateral curvature Efy at Fznom
+    tire_p_ky1 = params[62]  # Maximum value of stiffness Kfy/Fznom
+    tire_p_hy1 = params[63]  # Horizontal shift Shy at Fznom
+    tire_p_hy3 = params[64]  # Variation of shift Shy with camber
+    tire_p_vy1 = params[65]  # Vertical shift in Svy/Fz at Fznom
+    tire_p_vy3 = params[66]  # Variation of shift Svy/Fz with camber
+
+    # turn slip is neglected, so xi_i=1
+    # all scaling factors lambda = 1
+
+    # coordinate system transformation
+    # alpha = -alpha
+
+    S_hy = np.sign(gamma) * (tire_p_hy1 + tire_p_hy3 * np.fabs(gamma))
+    S_vy = np.sign(gamma) * F_z * (tire_p_vy1 + tire_p_vy3 * np.fabs(gamma))
+
+    alpha_y = alpha + S_hy
+    mu_y = tire_p_dy1 * (1 - tire_p_dy3 * gamma ** 2)
+
+    C_y = tire_p_cy1
+    D_y = mu_y * F_z
+    E_y = tire_p_ey1
+    K_y = F_z * tire_p_ky1  # simplify K_y0 to tire_p_ky1*F_z
+    B_y = K_y / (C_y * D_y)
+
+    # magic tire formula
+    F_y = D_y * np.sin(C_y * np.arctan(B_y * alpha_y - E_y * (B_y * alpha_y - np.arctan(B_y * alpha_y)))) + S_vy
+
+    res = []
+    res.append(F_y)
+    res.append(mu_y)
+    return res
+
+
+# longitudinal tire forces for combined slip
+@njit(cache=True)
+def formula_longitudinal_comb(kappa, alpha, F0_x, params):
+
+    # longitudinal coefficients
+    tire_r_bx1 = params[53]  # Slope factor for combined slip Fx reduction
+    tire_r_bx2 = params[54]  # Variation of slope Fx reduction with kappa
+    tire_r_cx1 = params[55]  # Shape factor for combined slip Fx reduction
+    tire_r_ex1 = params[56]  # Curvature factor of combined Fx
+    tire_r_hx1 = params[57]  # Shift factor for combined slip Fx reduction
+
+    # turn slip is neglected, so xi_i=1
+    # all scaling factors lambda = 1
+
+    S_hxalpha = tire_r_hx1
+
+    alpha_s = alpha + S_hxalpha
+
+    B_xalpha = tire_r_bx1 * np.cos(np.arctan(tire_r_bx2 * kappa))
+    C_xalpha = tire_r_cx1
+    E_xalpha = tire_r_ex1
+    D_xalpha = F0_x / (np.cos(C_xalpha * np.arctan(
+        B_xalpha * S_hxalpha - E_xalpha * (B_xalpha * S_hxalpha - np.arctan(B_xalpha * S_hxalpha)))))
+
+    # magic tire formula
+    return D_xalpha * np.cos(
+        C_xalpha * np.arctan(B_xalpha * alpha_s - E_xalpha * (B_xalpha * alpha_s - np.arctan(B_xalpha * alpha_s))))
+
+
+# lateral tire forces for combined slip
+@njit(cache=True)
+def formula_lateral_comb(kappa, alpha, gamma, mu_y, F_z, F0_y, params):
+
+    # lateral coefficients
+    tire_r_by1 = params[67]  # Slope factor for combined Fy reduction
+    tire_r_by2 = params[68]  # Variation of slope Fy reduction with alpha
+    tire_r_by3 = params[69]  # Shift term for alpha in slope Fy reduction
+    tire_r_cy1 = params[70]  # Shape factor for combined Fy reduction
+    tire_r_ey1 = params[71]  # Curvature factor of combined Fy
+    tire_r_hy1 = params[72]  # Shift factor for combined Fy reduction
+    tire_r_vy1 = params[73]  # Kappa induced side force Svyk/Muy*Fz at Fznom
+    tire_r_vy3 = params[74]  # Variation of Svyk/Muy*Fz with camber
+    tire_r_vy4 = params[75]  # Variation of Svyk/Muy*Fz with alpha
+    tire_r_vy5 = params[76]  # Variation of Svyk/Muy*Fz with kappa
+    tire_r_vy6 = params[77]  # Variation of Svyk/Muy*Fz with atan(kappa)
+
+    # turn slip is neglected, so xi_i=1
+    # all scaling factors lambda = 1
+
+    S_hykappa = tire_r_hy1
+
+    kappa_s = kappa + S_hykappa
+
+    B_ykappa = tire_r_by1 * np.cos(np.arctan(tire_r_by2 * (alpha - tire_r_by3)))
+    C_ykappa = tire_r_cy1
+    E_ykappa = tire_r_ey1
+    D_ykappa = F0_y / (np.cos(C_ykappa * np.arctan(
+        B_ykappa * S_hykappa - E_ykappa * (B_ykappa * S_hykappa - np.arctan(B_ykappa * S_hykappa)))))
+
+    D_vykappa = mu_y * F_z * (tire_r_vy1 + tire_r_vy3 * gamma) * np.cos(np.arctan(tire_r_vy4 * alpha))
+    S_vykappa = D_vykappa * np.sin(tire_r_vy5 * np.arctan(tire_r_vy6 * kappa))
+
+    # magic tire formula
+    return D_ykappa * np.cos(C_ykappa * np.arctan(
+        B_ykappa * kappa_s - E_ykappa * (B_ykappa * kappa_s - np.arctan(B_ykappa * kappa_s)))) + S_vykappa
diff --git a/f1tenth_gym/envs/dynamic_models/single_track.py b/f1tenth_gym/envs/dynamic_models/single_track.py
index 6bbe2308..67e11b0d 100644
--- a/f1tenth_gym/envs/dynamic_models/single_track.py
+++ b/f1tenth_gym/envs/dynamic_models/single_track.py
@@ -3,177 +3,45 @@
 
 from .utils import steering_constraint, accl_constraints
 
-# @njit()
-# def vehicle_dynamics_st(x: np.ndarray, u_init: np.ndarray, params: dict):
-#     """
-#     Single Track Vehicle Dynamics.
-#     From https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 7
-
-#         Args:
-#             x (numpy.ndarray (7, )): vehicle state vector (x0, x1, x2, x3, x4, x5, x6)
-#                 x0: x position in global coordinates
-#                 x1: y position in global coordinates
-#                 x2: steering angle of front wheels
-#                 x3: velocity in x direction
-#                 x4: yaw angle
-#                 x5: yaw rate
-#                 x6: slip angle at vehicle center
-#             u (numpy.ndarray (2, )): control input vector (u1, u2)
-#                 u1: steering angle velocity of front wheels
-#                 u2: longitudinal acceleration
-#             params (dict): dictionary containing the following parameters:
-#                 mu (float): friction coefficient
-#                 C_Sf (float): cornering stiffness of front wheels
-#                 C_Sr (float): cornering stiffness of rear wheels
-#                 lf (float): distance from center of gravity to front axle
-#                 lr (float): distance from center of gravity to rear axle
-#                 h (float): height of center of gravity
-#                 m (float): mass of vehicle
-#                 I (float): moment of inertia of vehicle, about Z axis
-#                 s_min (float): minimum steering angle
-#                 s_max (float): maximum steering angle
-#                 sv_min (float): minimum steering velocity
-#                 sv_max (float): maximum steering velocity
-#                 v_switch (float): velocity above which the acceleration is no longer able to create wheel spin
-#                 a_max (float): maximum allowed acceleration
-#                 v_min (float): minimum allowed velocity
-#                 v_max (float): maximum allowed velocity
-
-#         Returns:
-#             f (numpy.ndarray): right hand side of differential equations
-#     """
-#     # States
-#     X = x[0]
-#     Y = x[1]
-#     DELTA = x[2]
-#     V = x[3]
-#     PSI = x[4]
-#     PSI_DOT = x[5]
-#     BETA = x[6]
-#     # We have to wrap the slip angle to [-pi, pi]
-#     # BETA = np.arctan2(np.sin(BETA), np.cos(BETA))
-
-#     # gravity constant m/s^2
-#     g = 9.81
-
-#     # constraints
-#     u = np.array(
-#         [
-#             steering_constraint(
-#                 DELTA,
-#                 u_init[0],
-#                 params["s_min"],
-#                 params["s_max"],
-#                 params["sv_min"],
-#                 params["sv_max"],
-#             ),
-#             accl_constraints(
-#                 V,
-#                 u_init[1],
-#                 params["v_switch"],
-#                 params["a_max"],
-#                 params["v_min"],
-#                 params["v_max"],
-#             ),
-#         ]
-#     )
-#     # Controls
-#     STEER_VEL = u[0]
-#     ACCL = u[1]
-
-#     # switch to kinematic model for small velocities
-#     if V < 0.5:
-#         # wheelbase
-#         lwb = params["lf"] + params["lr"]
-#         BETA_HAT = np.arctan(np.tan(DELTA) * params["lr"] / lwb)
-#         BETA_DOT = (
-#             (1 / (1 + (np.tan(DELTA) * (params["lr"] / lwb)) ** 2))
-#             * (params["lr"] / (lwb * np.cos(DELTA) ** 2))
-#             * STEER_VEL
-#         )
-#         f = np.array(
-#             [
-#                 V * np.cos(PSI + BETA_HAT),  # X_DOT
-#                 V * np.sin(PSI + BETA_HAT),  # Y_DOT
-#                 STEER_VEL,  # DELTA_DOT
-#                 ACCL,  # V_DOT
-#                 V * np.cos(BETA_HAT) * np.tan(DELTA) / lwb,  # PSI_DOT
-#                 (1 / lwb)
-#                 * (
-#                     ACCL * np.cos(BETA) * np.tan(DELTA)
-#                     - V * np.sin(BETA) * np.tan(DELTA) * BETA_DOT
-#                     + ((V * np.cos(BETA) * STEER_VEL) / (np.cos(DELTA) ** 2))
-#                 ),  # PSI_DOT_DOT
-#                 BETA_DOT,  # BETA_DOT
-#             ]
-#         )
-#     else:
-#         # system dynamics
-#         glr = g * params["lr"] - ACCL * params["h"]
-#         glf = g * params["lf"] + ACCL * params["h"]
-#         f = np.array(
-#             [
-#                 V * np.cos(PSI + BETA),  # X_DOT
-#                 V * np.sin(PSI + BETA),  # Y_DOT
-#                 STEER_VEL,  # DELTA_DOT
-#                 ACCL,  # V_DOT
-#                 PSI_DOT,  # PSI_DOT
-#                 (
-#                     (params["mu"] * params["m"])
-#                     / (params["I"] * (params["lf"] + params["lr"]))
-#                 )
-#                 * (
-#                     params["lf"] * params["C_Sf"] * (glr) * DELTA
-#                     + (
-#                         params["lr"] * params["C_Sr"] * (glf)
-#                         - params["lf"] * params["C_Sf"] * (glr)
-#                     )
-#                     * BETA
-#                     - (
-#                         params["lf"] * params["lf"] * params["C_Sf"] * (glr)
-#                         + params["lr"] * params["lr"] * params["C_Sr"] * (glf)
-#                     )
-#                     * (PSI_DOT / V)
-#                 ),  # PSI_DOT_DOT
-#                 (params["mu"] / (V * (params["lr"] + params["lf"])))
-#                 * (
-#                     params["C_Sf"] * (glr) * DELTA
-#                     - (params["C_Sr"] * (glf) + params["C_Sf"] * (glr)) * BETA
-#                     + (
-#                         params["C_Sr"] * (glf) * params["lr"]
-#                         - params["C_Sf"] * (glr) * params["lf"]
-#                     )
-#                     * (PSI_DOT / V)
-#                 )
-#                 - PSI_DOT,  # BETA_DOT
-#             ]
-#         )
+@njit(cache=True)
+def vehicle_dynamics_st(x: np.ndarray, u_init: np.ndarray, params: np.ndarray) -> np.ndarray:
+    """
+    Single Track Vehicle Dynamics.
+    From https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 7
 
-#     return f
+        Args:
+            x (numpy.ndarray (7, )): vehicle state vector (x0, x1, x2, x3, x4, x5, x6)
+                x0: x position in global coordinates
+                x1: y position in global coordinates
+                x2: steering angle of front wheels
+                x3: velocity in x direction
+                x4: yaw angle
+                x5: yaw rate
+                x6: slip angle at vehicle center
+            u (numpy.ndarray (2, )): control input vector (u1, u2)
+                u1: steering angle velocity of front wheels
+                u2: longitudinal acceleration
+            params (dict): dictionary containing the following parameters:
+                mu (float): friction coefficient
+                C_Sf (float): cornering stiffness of front wheels
+                C_Sr (float): cornering stiffness of rear wheels
+                lf (float): distance from center of gravity to front axle
+                lr (float): distance from center of gravity to rear axle
+                h (float): height of center of gravity
+                m (float): mass of vehicle
+                I (float): moment of inertia of vehicle, about Z axis
+                s_min (float): minimum steering angle
+                s_max (float): maximum steering angle
+                sv_min (float): minimum steering velocity
+                sv_max (float): maximum steering velocity
+                v_switch (float): velocity above which the acceleration is no longer able to create wheel spin
+                a_max (float): maximum allowed acceleration
+                v_min (float): minimum allowed velocity
+                v_max (float): maximum allowed velocity
 
-@njit(cache=True)
-def vehicle_dynamics_st(
-    x: np.ndarray,
-    u_init: np.ndarray,
-    mu: float,
-    C_Sf: float,
-    C_Sr: float,
-    lf: float,
-    lr: float,
-    h: float,
-    m: float,
-    I: float,
-    s_min: float,
-    s_max: float,
-    sv_min: float,
-    sv_max: float,
-    v_switch: float,
-    a_max: float,
-    v_min: float,
-    v_max: float,
-    width: float,
-    length: float
-) -> np.ndarray:
+        Returns:
+            f (numpy.ndarray): right hand side of differential equations
+    """
     # States
     X = x[0]
     Y = x[1]
@@ -182,17 +50,58 @@ def vehicle_dynamics_st(
     PSI = x[4]
     PSI_DOT = x[5]
     BETA = x[6]
+    # We have to wrap the slip angle to [-pi, pi]
+    # BETA = np.arctan2(np.sin(BETA), np.cos(BETA))
 
-    g = 9.81  # gravity constant
+    # gravity constant m/s^2
+    g = 9.81
+    mu = params[0]
+    C_Sf = params[1]  # front tire cornering stiffness [N/rad]  CF
+    C_Sr = params[2]  # rear tire cornering stiffness [N/rad]  CR
+    lf = params[3]  # distance from spring mass center of gravity to front axle [m]  LENA
+    lr = params[4]  # distance from spring mass center of gravity to rear axle [m]  LENB
+    h = params[5]  # M_s center of gravity above ground [m]  HS
+    m = params[6]  # vehicle mass [kg]  MASS
+    I = params[7]  # moment of inertia for sprung mass in yaw [kg m^2]  IZZ
+    s_min = params[8]  # minimum steering angle [rad]
+    s_max = params[9]  # maximum steering angle [rad]
+    sv_min = params[10]  # minimum steering velocity [rad/s]
+    sv_max = params[11]  # maximum steering velocity [rad/s]
+    v_switch = params[12]  # switching velocity [m/s]
+    a_max = params[13]  # maximum absolute acceleration [m/s^2]
+    v_min = params[14]  # minimum velocity [m/s]
+    v_max = params[15]  # maximum velocity [m/s]
+    # width = params[16]  # vehicle width [m]
+    # length = params[17]  # vehicle length [m]
 
-    u = [
-        steering_constraint(DELTA, u_init[0], s_min, s_max, sv_min, sv_max),
-        accl_constraints(V, u_init[1], v_switch, a_max, v_min, v_max)
-    ]
+    # constraints
+    u = np.array(
+        [
+            steering_constraint(
+                DELTA,
+                u_init[0],
+                s_min,
+                s_max,
+                sv_min,
+                sv_max,
+            ),
+            accl_constraints(
+                V,
+                u_init[1],
+                v_switch,
+                a_max,
+                v_min,
+                v_max,
+            ),
+        ]
+    )
+    # Controls
     STEER_VEL = u[0]
     ACCL = u[1]
 
+    # switch to kinematic model for small velocities
     if V < 0.5:
+        # wheelbase
         lwb = lf + lr
         BETA_HAT = np.arctan(np.tan(DELTA) * lr / lwb)
         BETA_DOT = (
@@ -200,41 +109,65 @@ def vehicle_dynamics_st(
             * (lr / (lwb * np.cos(DELTA) ** 2))
             * STEER_VEL
         )
-        f = np.asarray([
-            V * np.cos(PSI + BETA_HAT),
-            V * np.sin(PSI + BETA_HAT),
-            STEER_VEL,
-            ACCL,
-            V * np.cos(BETA_HAT) * np.tan(DELTA) / lwb,
-            (1 / lwb) * (
-                ACCL * np.cos(BETA) * np.tan(DELTA)
-                - V * np.sin(BETA) * np.tan(DELTA) * BETA_DOT
-                + (V * np.cos(BETA) * STEER_VEL) / (np.cos(DELTA) ** 2)
-            ),
-            BETA_DOT
-        ])
+        f = np.array(
+            [
+                V * np.cos(PSI + BETA_HAT),  # X_DOT
+                V * np.sin(PSI + BETA_HAT),  # Y_DOT
+                STEER_VEL,  # DELTA_DOT
+                ACCL,  # V_DOT
+                V * np.cos(BETA_HAT) * np.tan(DELTA) / lwb,  # PSI_DOT
+                (1 / lwb)
+                * (
+                    ACCL * np.cos(BETA) * np.tan(DELTA)
+                    - V * np.sin(BETA) * np.tan(DELTA) * BETA_DOT
+                    + ((V * np.cos(BETA) * STEER_VEL) / (np.cos(DELTA) ** 2))
+                ),  # PSI_DOT_DOT
+                BETA_DOT,  # BETA_DOT
+            ]
+        )
     else:
+        # system dynamics
         glr = g * lr - ACCL * h
         glf = g * lf + ACCL * h
-        f = np.asarray([
-            V * np.cos(PSI + BETA),
-            V * np.sin(PSI + BETA),
-            STEER_VEL,
-            ACCL,
-            PSI_DOT,
-            (mu * m / (I * (lf + lr))) * (
-                lf * C_Sf * glr * DELTA
-                + (lr * C_Sr * glf - lf * C_Sf * glr) * BETA
-                - (lf**2 * C_Sf * glr + lr**2 * C_Sr * glf) * (PSI_DOT / V)
-            ),
-            (mu / (V * (lr + lf))) * (
-                C_Sf * glr * DELTA
-                - (C_Sr * glf + C_Sf * glr) * BETA
-                + (C_Sr * glf * lr - C_Sf * glr * lf) * (PSI_DOT / V)
-            ) - PSI_DOT
-        ])
-    return f
+        f = np.array(
+            [
+                V * np.cos(PSI + BETA),  # X_DOT
+                V * np.sin(PSI + BETA),  # Y_DOT
+                STEER_VEL,  # DELTA_DOT
+                ACCL,  # V_DOT
+                PSI_DOT,  # PSI_DOT
+                (
+                    (mu * m)
+                    / (I * (lf + lr))
+                )
+                * (
+                    lf * C_Sf * (glr) * DELTA
+                    + (
+                        lr * C_Sr * (glf)
+                        - lf * C_Sf * (glr)
+                    )
+                    * BETA
+                    - (
+                        lf * lf * C_Sf * (glr)
+                        + lr * lr * C_Sr * (glf)
+                    )
+                    * (PSI_DOT / V)
+                ),  # PSI_DOT_DOT
+                (mu / (V * (lr + lf)))
+                * (
+                    C_Sf * (glr) * DELTA
+                    - (C_Sr * (glf) + C_Sf * (glr)) * BETA
+                    + (
+                        C_Sr * (glf) * lr
+                        - C_Sf * (glr) * lf
+                    )
+                    * (PSI_DOT / V)
+                )
+                - PSI_DOT,  # BETA_DOT
+            ]
+        )
 
+    return f
 
 @njit(cache=True)
 def get_standardized_state_st(x: np.ndarray) -> np.ndarray:
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 64c5c369..245ea206 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -98,7 +98,7 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         self.model = DynamicModel.from_string(self.config["model"])
         self.observation_config = self.config["observation_config"]
         self.action_type = CarAction(self.config["control_input"], params=self.params)
-
+        
         # env states
         self.poses_x = []
         self.poses_y = []
diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index 643441ff..ee005025 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -78,7 +78,6 @@ def observe(self):
         for i, agent_id in enumerate(self.env.unwrapped.agent_ids):
             scan = self.env.unwrapped.sim.agent_scans[i]
             agent = self.env.unwrapped.sim.agents[i]
-
             # create agent's observation dict
             agent_obs = {
                 "scan": scan.copy(),

From d3b43126d8c46d6665ec613cfda8d383ff22942d Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Tue, 1 Jul 2025 23:10:19 -0400
Subject: [PATCH 36/54] run_in_empty_track working

---
 examples/run_in_empty_track.py         |  5 +++--
 f1tenth_gym/envs/f110_env.py           | 23 +++++++++++++----------
 f1tenth_gym/envs/observation.py        | 12 ++++++------
 f1tenth_gym/envs/track/cubic_spline.py |  3 ++-
 f1tenth_gym/envs/track/track.py        |  4 ++--
 5 files changed, 26 insertions(+), 21 deletions(-)

diff --git a/examples/run_in_empty_track.py b/examples/run_in_empty_track.py
index f89e786c..cb308868 100644
--- a/examples/run_in_empty_track.py
+++ b/examples/run_in_empty_track.py
@@ -25,6 +25,7 @@ def main():
             "map": track,
             "num_agents": 1,
             "observation_config": {"type": "kinematic_state"},
+            "reset_config": {"type": "rl_random_static"},
         },
         render_mode="human",
     )
@@ -44,8 +45,8 @@ def main():
             obs["agent_0"]["pose_x"],
             obs["agent_0"]["pose_y"],
             obs["agent_0"]["pose_theta"],
-            lookahead_distance=0.8,
-            vgain=1.0,
+            lookahead_distance=1.0,
+            vgain=0.8,
         )
         action = np.array([[steer, speed]])
         obs, timestep, terminated, truncated, infos = env.step(action)
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 245ea206..4d756ebc 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -116,17 +116,20 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
             self.lap_times_finish = np.zeros((self.num_agents, ))
             self.lap_counts = np.zeros((self.num_agents, ))
             self.sim_time = 0.0
-        
-        if '/' in self.map or '\\' in self.map:
-            self.track = Track.from_track_path(
-                self.map,
-                track_scale=self.config["map_scale"],
-            )
+
+        if type(self.map) is not Track:
+            if '/' in self.map or '\\' in self.map:
+                self.track = Track.from_track_path(
+                    self.map,
+                    track_scale=self.config["map_scale"],
+                )
+            else:
+                self.track = Track.from_track_name(
+                    self.map,
+                    track_scale=self.config["map_scale"],
+                )  # load track in gym env for convenience
         else:
-            self.track = Track.from_track_name(
-                self.map,
-                track_scale=self.config["map_scale"],
-            )  # load track in gym env for convenience
+            self.track = self.map  # use the track directly
         
         # initiate stuff
         self.sim = Simulator(
diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index ee005025..4b457d19 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -294,12 +294,12 @@ def observe(self):
 
             std_state = agent.standard_state
 
-            x, y, theta = std_state["x"], std_state["y"], std_state["yaw"]
-            delta = std_state["delta"]
-            beta = std_state["slip"]
-            vx = std_state["v_x"]
-            vy = std_state["v_y"]
-            angvel = std_state["yaw_rate"]
+            x, y, theta = std_state[0], std_state[1], std_state[4]
+            delta = std_state[2]
+            beta = std_state[6]
+            vx = std_state[4] * np.cos(std_state[6])
+            vy = std_state[4] * np.sin(std_state[6])
+            angvel = std_state[5]
 
             # create agent's observation dict
             agent_obs = {
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index de857949..e8b73dac 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -47,7 +47,8 @@ def __init__(self, x, y,
         else:
             self.points[-1] = self.points[0]
         self.s = ss if ss is not None else self.__calc_s(self.points[:, 0], self.points[:, 1])
-        self.ss, self.psis, self.ks = self.s, psis, ks
+        self.xs, self.ys, self.ss, self.psis, self.ks, self.vxs = \
+            self.points[:, 0], self.points[:, 1], self.s, np.arctan2(self.points[:, 3], self.points[:, 2]), self.points[:, 4], self.points[:, 5]
         self.s_interval = (self.s[-1] - self.s[0]) / len(self.s)
         self.s_frame_max = self.s[-1]
 
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index dc6232c4..6a85019e 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -265,8 +265,8 @@ def from_refline(x: np.ndarray, y: np.ndarray, velx: np.ndarray):
         resolution = 0.05
         margin_perc = 0.1
 
-        spline = CubicSpline2D(x=x, y=y)
-        ss, xs, ys, yaws, ks, vxs = spline.ss, spline.xs, spline.ys, spline.psis, spline.ks, velx
+        spline = CubicSpline2D(x=x, y=y, vxs=velx)
+        ss, xs, ys, yaws, ks, vxs = spline.ss, spline.xs, spline.ys, spline.psis, spline.ks, spline.vxs
 
         refline = Raceline(
             ss=np.array(ss).astype(np.float32),

From 4be683ce7072b81f8f206bc64036de5504ecd320 Mon Sep 17 00:00:00 2001
From: zzangupenn 
Date: Wed, 2 Jul 2025 03:09:46 -0400
Subject: [PATCH 37/54] add pyqtgl frame output

---
 examples/video_recording.py                   |  12 +-
 examples/waypoint_follow.py                   |  20 +-
 f1tenth_gym/envs/rendering/pyqtgl_objects.py  |   4 +-
 f1tenth_gym/envs/rendering/rendering.yaml     |   4 +
 .../envs/rendering/rendering_pyqtgl.py        | 179 +++++++++++++++---
 5 files changed, 182 insertions(+), 37 deletions(-)

diff --git a/examples/video_recording.py b/examples/video_recording.py
index 8fbd67e8..d7adce47 100644
--- a/examples/video_recording.py
+++ b/examples/video_recording.py
@@ -3,6 +3,7 @@
 import gymnasium.wrappers
 import numpy as np
 
+from f1tenth_gym.envs.f110_env import F110Env
 from waypoint_follow import PurePursuitPlanner
 
 
@@ -10,7 +11,7 @@ def main():
     work = {
         "mass": 3.463388126201571,
         "lf": 0.15597534362552312,
-        "tlad": 0.82461887897713965,
+        "tlad": 0.82461887897713965 * 2,
         "vgain": 1,
     }
 
@@ -23,15 +24,21 @@ def main():
             "integrator": "rk4",
             "control_input": ["speed", "steering_angle"],
             "model": "st",
+            "params": F110Env.f1tenth_vehicle_params(),
             "observation_config": {"type": "kinematic_state"},
             "params": {"mu": 1.0},
+            "reset_config": {"type": "rl_random_static"},
         },
         render_mode="rgb_array",
+        # render_mode="unlimited",
     )
     env = gymnasium.wrappers.RecordVideo(env, f"video_{time.time()}")
     track = env.unwrapped.track
 
     planner = PurePursuitPlanner(track=track, wb=0.17145 + 0.15875)
+    track.raceline.render_waypoints(env.unwrapped.renderer)
+    for r in planner.get_render_callbacks():
+        env.unwrapped.add_render_callback(r)
 
     poses = np.array(
         [
@@ -50,7 +57,7 @@ def main():
     start = time.time()
 
     frames = [env.render()]
-    while not done and laptime < 15.0:
+    while not done and laptime < 5.0:
         action = env.action_space.sample()
         for i, agent_id in enumerate(obs.keys()):
             speed, steer = planner.plan(
@@ -70,7 +77,6 @@ def main():
 
     print("Sim elapsed time:", laptime, "Real elapsed time:", time.time() - start)
 
-    # close env to trigger video saving
     env.close()
 
 
diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index a4a67326..3ec00825 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -209,7 +209,7 @@ def render_lookahead_point(self, e):
             points = self.lookahead_point[:2][None]  # shape (1, 2)~
             if self.lookahead_point_render is None:
                 self.lookahead_point_render = e.get_points_renderer(
-                    points, color=(200, 0, 0), size=10
+                    points, color=(228, 26, 28), size=10
                 )
             else:
                 self.lookahead_point_render.update(points)
@@ -222,7 +222,7 @@ def render_local_plan(self, e):
             points = self.waypoints[self.current_index : self.current_index + 10, :2]
             if self.local_plan_render is None:
                 self.local_plan_render = e.get_lines_renderer(
-                    points, color=(0, 128, 0), size=5
+                    points, color=(255, 255, 51), size=5
                 )
             else:
                 self.local_plan_render.update(points)
@@ -305,7 +305,7 @@ def main():
     work = {
         "mass": 3.463388126201571,
         "lf": 0.15597534362552312,
-        "tlad": 0.82461887897713965 * 8,
+        "tlad": 0.82461887897713965 * 2,
         "vgain": 1.,
     }
     num_agents = 1
@@ -318,10 +318,10 @@ def main():
             "integrator_timestep": 0.01,
             "integrator": "rk4",
             "control_input": ["speed", "steering_angle"],
-            "model": 'mb', # "ks", "st", "mb"
+            "model": 'ks', # "ks", "st", "mb"
             "observation_config": {"type": "direct"},
-            # "params": F110Env.f1tenth_vehicle_params(),
-            "params": F110Env.fullscale_vehicle_params(),
+            "params": F110Env.f1tenth_vehicle_params(),
+            # "params": F110Env.fullscale_vehicle_params(),
             "reset_config": {"type": "rl_random_static"},
             "map_scale": 1.0,
             "enable_rendering": 1,
@@ -338,10 +338,10 @@ def main():
     planner = PurePursuitPlanner(
         track=track,
         wb=(
-            # F110Env.f1tenth_vehicle_params()["lf"]
-            # + F110Env.f1tenth_vehicle_params()["lr"]
-            F110Env.fullscale_vehicle_params()["lf"]
-            + F110Env.fullscale_vehicle_params()["lr"]
+            F110Env.f1tenth_vehicle_params()["lf"]
+            + F110Env.f1tenth_vehicle_params()["lr"]
+            # F110Env.fullscale_vehicle_params()["lf"]
+            # + F110Env.fullscale_vehicle_params()["lr"]
         ),
     )
 
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index cbb37d3c..a5f96784 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -113,7 +113,7 @@ def __init__(
         points: list | np.ndarray, 
         color: Optional[tuple[int, int, int]] = (0, 0, 255), 
         size: Optional[int] = 1,
-        z_offset: float = 0.01
+        z_offset: float = 0.02
         ):
         # Convert to 3D (z=0)
         self.z_offset = z_offset
@@ -184,7 +184,7 @@ def __init__(
         points: np.ndarray,
         color: tuple[int, int, int] = (0, 0, 255),
         size: int = 5,
-        z_offset: float = 0.01
+        z_offset: float = 0.03
     ):
         self.z_offset = z_offset
         # Normalize color to (0–1)
diff --git a/f1tenth_gym/envs/rendering/rendering.yaml b/f1tenth_gym/envs/rendering/rendering.yaml
index 007d9dbd..3ccc956c 100644
--- a/f1tenth_gym/envs/rendering/rendering.yaml
+++ b/f1tenth_gym/envs/rendering/rendering.yaml
@@ -19,3 +19,7 @@ vehicle_palette:      # [list] cyclic list of colors for the vehicles
   - "#888888"
   - "#a6cee3"
   - "#b2df8a"
+frame_output_method: "offscreen" # [str] method to output frames. Options: "xcb", "offscreen"
+# NOTE: "xcb" is slower, requires a display server, but with higher quality, 
+#       "offscreen" is faster, works without a display server, but with lower quality
+frame_output_info_label: True # [bool] it toggles the visualization of the frame output label
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index ee945f82..fd34628b 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -1,14 +1,19 @@
 import time, logging
+import os
 import numpy as np
 import pyqtgraph.opengl as gl
 from PyQt6 import QtWidgets, QtCore, QtGui
 from typing import Any, Optional
 from PIL import ImageColor
+from PyQt6.QtGui import QImage
+import OpenGL.GL as gl_module
 
 from ..track import Track
 from .renderer import EnvRenderer, RenderSpec, ObjectRenderer
 from .pyqtgl_objects import PointsRenderer, LinesRenderer, ClosedLinesRenderer, CarRenderer
 from .mesh_renderer import MeshRenderer
+# import utilsuite
+from PIL import Image, ImageDraw, ImageFont
 
 class PyQtEnvRendererGL(EnvRenderer):
     def __init__(
@@ -21,6 +26,8 @@ def __init__(
         render_fps: int,
     ):
         super().__init__()
+        if render_mode == "rgb_array":
+            os.environ["QT_QPA_PLATFORM"] = render_spec.frame_output_method
         self.camera_free_rotation = 0
         self.params = params
         self.agent_ids = agent_ids
@@ -37,18 +44,24 @@ def __init__(
         self.obs = None
         self.zoom_level = 1.0
         self.init = True
+        # self.timer = utilsuite.Timer()
         
         fmt = QtGui.QSurfaceFormat()
         fmt.setSwapInterval(0)  # 0 = no vsync, 1 = vsync
         QtGui.QSurfaceFormat.setDefaultFormat(fmt)
+        
         self.app = QtWidgets.QApplication.instance() or QtWidgets.QApplication([])
         self.view = gl.GLViewWidget()
+        # self._apply_view_flip()
         self.view.setCameraPosition(pos=QtGui.QVector3D(0, 0, 0), distance=self.default_camera_dist, elevation=90, azimuth=0)
         self.view.setBackgroundColor((25, 25, 25))
-        self.window = QtWidgets.QMainWindow()
-        self.window.setCentralWidget(self.view)
-        self.window.setWindowTitle("F1Tenth Gym - OpenGL")
-        self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
+        self.view.resize(self.render_spec.window_size, self.render_spec.window_size)        
+
+        if self.render_mode != "rgb_array":
+            self.window = QtWidgets.QMainWindow()
+            self.window.setCentralWidget(self.view)
+            self.window.setWindowTitle("F1Tenth Gym - OpenGL")
+            self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
         
         if self.render_spec.car_model == "2d":
             if not self.camera_free_rotation: self._enable_pan_only()
@@ -56,20 +69,9 @@ def __init__(
         self._init_map(track)
         
         # FPS label
-        if self.render_mode in ["human", "human_fast", 'unlimited']:
-            text_rgb = (140, 140, 140)
-            self.fps_label = QtWidgets.QLabel(self.window)
-            font = QtGui.QFont("Arial", 14)
-            self.fps_label.setFont(font)
-            self.fps_label.setStyleSheet(
-                f"color: rgb({text_rgb[0]}, {text_rgb[1]}, {text_rgb[2]}); background-color: transparent; padding: 2px;"
-            )
-            self.fps_label.move(10, 10)
-            self.fps_label.resize(100, 20)
-            self.fps_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
-            self.fps_label.show()
-            
-            self.lap_label = QtWidgets.QLabel(self.window)
+        text_rgb = (140, 140, 140)
+        if self.render_spec.frame_output_info_label or self.render_mode != "rgb_array":
+            self.lap_label = QtWidgets.QLabel(self.view)
             font = QtGui.QFont("Arial", 14)
             self.lap_label.setFont(font)
             self.lap_label.setStyleSheet(
@@ -79,6 +81,17 @@ def __init__(
             self.lap_label.resize(220, 30)
             self.lap_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
             self.lap_label.show()
+        if self.render_mode != "rgb_array":
+            self.fps_label = QtWidgets.QLabel(self.view)
+            font = QtGui.QFont("Arial", 14)
+            self.fps_label.setFont(font)
+            self.fps_label.setStyleSheet(
+                f"color: rgb({text_rgb[0]}, {text_rgb[1]}, {text_rgb[2]}); background-color: transparent; padding: 2px;"
+            )
+            self.fps_label.move(10, 10)
+            self.fps_label.resize(100, 20)
+            self.fps_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
+            self.fps_label.show()
 
         # Frame timer
         self.last_time = time.time()
@@ -88,13 +101,26 @@ def __init__(
         self.sim_time = None
         self.callbacks = []
         self.draw_flag = True
-        # self.window.show()
         
         # Colors
         self.car_colors = [
             tuple(ImageColor.getcolor(c, "RGB")) for c in render_spec.vehicle_palette
         ]
         
+    def _apply_view_flip(self):
+        """Apply a vertical flip transformation to the OpenGL view."""
+        # Override the paintGL method to apply a Y-axis flip transformation
+        # This will flip the view vertically so it matches the output frame orientation
+        original_paintGL = self.view.paintGL
+        def flipped_paintGL():
+            gl_module.glPushMatrix()
+            # Apply the flip transformation (flip Y-axis)
+            gl_module.glScalef(-1.0, 1.0, 1.0)
+            # Call the original paintGL
+            original_paintGL()
+            gl_module.glPopMatrix()
+        self.view.paintGL = flipped_paintGL
+        
     def _init_map(self, track):
         map_image = track.occupancy_map
         map_image = np.rot90(map_image, k=1)
@@ -247,10 +273,15 @@ def update(self, obs: dict) -> None:
     def render(self):
         if self.draw_flag:
             if self.init:
-                self.window.show()
+                if self.render_mode != "rgb_array":
+                    self.window.show()
+                else:
+                    self.font = ImageFont.truetype("arial.ttf", 20)
                 self.init = False
             
-            if self.obs is not None:
+            if self.obs is not None and \
+                (self.render_mode != "rgb_array" or \
+                    self.render_spec.frame_output_info_label):
                 self.lap_label.setText(f"Lap Time {self.obs[self.agent_ids[0]]['lap_time']:.2f}, " + 
                     f"Lap {int(self.obs[self.agent_ids[0]]['lap_count']):d}")
             start_time = time.time()
@@ -274,6 +305,109 @@ def render(self):
                     elapsed = time.time() - start_time
                     sleep_time = max(0.0, 1/self.render_fps - elapsed)
                     time.sleep(sleep_time)
+            elif self.render_mode == "rgb_array":
+                # Option 1: Use ImageExporter (captures Qt widgets if any are in the scene)
+                # self.timer.tic("render", num=50)
+                if self.render_spec.frame_output_method == "xcb":
+                    frame = self.grab_frame_with_exporter()
+                
+                # Option 2: Use direct OpenGL framebuffer grab (current method)
+                if self.render_spec.frame_output_method == "offscreen":
+                    frame = self.grab_frame_as_rgb()
+                # self.timer.toc("render", Hz=1)
+                return frame
+
+    def grab_frame_as_rgb(self) -> np.ndarray:
+        """
+        Grab the current OpenGL frame buffer and overlay text labels as RGB numpy array.
+        """
+        # Make sure OpenGL context is active
+        self.view.makeCurrent()
+        qimg = self.view.grabFramebuffer()
+        
+        # Convert to RGB format for consistent pixel layout
+        qimg = qimg.convertToFormat(QImage.Format.Format_RGB888)
+
+        # Extract raw bytes
+        width, height = qimg.width(), qimg.height()
+        ptr = qimg.bits()
+        # Tell Python how many bytes to read (width*height*3 for RGB888)
+        ptr.setsize(height * width * 3)  # 3 bytes per pixel for RGB888
+        img_array = np.frombuffer(ptr, dtype=np.uint8).reshape((height, width, 3))
+        
+        img_array = img_array.copy()  # Ensure we have a contiguous copy
+        # img_array = np.flip(img_array, axis=0)
+        
+        # Overlay text information using OpenCV
+        if self.render_spec.frame_output_info_label:
+            self._overlay_text_on_frame(img_array)
+
+        return img_array
+
+    def grab_frame_with_exporter(self) -> np.ndarray:
+        """
+        Grab the current frame by capturing the entire widget including Qt labels.
+        Since ImageExporter doesn't work with GLViewWidget, we'll capture the widget directly.
+        """
+        # Make sure the widget is updated and everything is rendered
+        
+        self.app.processEvents()
+        
+        # Capture the entire view widget (this should include Qt labels if they're children)
+        pixmap = self.view.grab()
+        qimg = pixmap.toImage()
+        
+        # Convert to RGB format
+        if qimg.format() != QImage.Format.Format_RGB888:
+            qimg = qimg.convertToFormat(QImage.Format.Format_RGB888)
+        
+        width = qimg.width()
+        height = qimg.height()
+        
+        ptr = qimg.bits()
+        ptr.setsize(height * width * 3)  # 3 bytes per pixel for RGB
+        img_array = np.array(ptr).reshape(height, width, 3)
+        
+        # No need to flip since this captures the widget as displayed
+        # (not the OpenGL framebuffer directly)
+        
+        # Ensure the array is contiguous in memory for video encoding
+        # img_array = np.ascontiguousarray(img_array)
+        
+
+        return img_array
+
+    def _overlay_text_on_frame(self, img_array: np.ndarray) -> None:
+        """
+        Overlay text information (FPS and lap data) onto the frame using TrueType fonts.
+        """
+
+        height, width = img_array.shape[:2]
+        
+        # Convert numpy array to PIL Image
+        pil_img = Image.fromarray(img_array)
+        draw = ImageDraw.Draw(pil_img)
+        
+        # Text color (RGB format for PIL)
+        color = (140, 140, 140)
+        
+        # Lap information text (top-right)
+        if self.obs is not None:
+            lap_time = self.obs[self.agent_ids[0]]['lap_time']
+            lap_count = int(self.obs[self.agent_ids[0]]['lap_count'])
+            lap_text = f"Lap Time: {lap_time:.2f}, Lap: {lap_count}"
+            
+            # Get text size for positioning
+            bbox = draw.textbbox((0, 0), lap_text, font=self.font)
+            text_width = bbox[2] - bbox[0]
+            x_pos = width - text_width - 10
+            
+            # Draw text
+            draw.text((x_pos, 10), lap_text, font=self.font, fill=color)
+        
+        # Convert back to numpy array
+        img_array[:] = np.array(pil_img)
+
         
     def add_renderer_callback(self, callback_fn):
         """
@@ -326,4 +460,5 @@ def get_closed_lines_renderer(
         return ClosedLinesRenderer(self, points, color, size, **kwargs)
 
     def close(self):
-        self.window.close()
+        if self.render_mode != "rgb_array":
+            self.window.close()

From c7af1d7371296e9f99686ad0f364de403d751f21 Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Thu, 3 Jul 2025 03:20:44 -0400
Subject: [PATCH 38/54] Fix cubic spline init

---
 examples/waypoint_follow.py            | 6 ------
 f1tenth_gym/envs/track/cubic_spline.py | 4 ++--
 f1tenth_gym/envs/track/track.py        | 2 +-
 3 files changed, 3 insertions(+), 9 deletions(-)

diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 3ec00825..1793599c 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -370,13 +370,7 @@ def main():
                 work["vgain"],
             )
             action[i] = np.array([steer, speed])
-        t1 = time.time()
         obs, step_reward, done, truncated, info = env.step(action)
-        
-        times.append(1/(time.time() - t1))
-        if len(times) > 2000:
-            print("FPS:", np.mean(times))
-            times = []
         laptime += step_reward
         frame = env.render()
 
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index 452d3094..78f78bed 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -47,8 +47,8 @@ def __init__(self, x, y,
         else:
             self.points[-1] = self.points[0]
         self.s = ss if ss is not None else self.__calc_s(self.points[:, 0], self.points[:, 1])
-        self.xs, self.ys, self.ss, self.psis, self.ks, self.vxs = \
-            self.points[:, 0], self.points[:, 1], self.s, np.arctan2(self.points[:, 3], self.points[:, 2]), self.points[:, 4], self.points[:, 5]
+        self.xs, self.ys, self.ss, self.psis, self.ks, self.vxs , self.axs = \
+            self.points[:, 0], self.points[:, 1], self.s, np.arctan2(self.points[:, 3], self.points[:, 2]), self.points[:, 4], self.points[:, 5], self.points[:, 6]
         self.s_interval = (self.s[-1] - self.s[0]) / len(self.s)
         self.s_frame_max = self.s[-1]
 
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index 78bab34b..616a7851 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -265,7 +265,7 @@ def from_refline(x: np.ndarray, y: np.ndarray, velx: np.ndarray):
         resolution = 0.05
         margin_perc = 0.1
 
-        spline = CubicSpline2D(x=x, y=y, vxs=velx)
+        spline = CubicSplineND(x=x, y=y, vxs=velx)
         ss, xs, ys, yaws, ks, vxs = spline.ss, spline.xs, spline.ys, spline.psis, spline.ks, spline.vxs
 
         refline = Raceline(

From 80c35d0fa78aee775757d92c0dec4f8ac08e124e Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Fri, 4 Jul 2025 15:26:28 -0400
Subject: [PATCH 39/54] Restore Readme

---
 README.md | 65 ++++++++++++++++++++++++++++++++++++++++---------------
 1 file changed, 47 insertions(+), 18 deletions(-)

diff --git a/README.md b/README.md
index ac9f7396..deafba72 100644
--- a/README.md
+++ b/README.md
@@ -1,22 +1,14 @@
+![Python 3.8 3.9](https://github.com/f1tenth/f1tenth_gym/actions/workflows/ci.yml/badge.svg)
+![Docker](https://github.com/f1tenth/f1tenth_gym/actions/workflows/docker.yml/badge.svg)
+![Code Style](https://github.com/f1tenth/f1tenth_gym/actions/workflows/lint.yml/badge.svg)
+
 # The F1TENTH Gym environment
 
-Zirui branch TODO list:
-- [x] clip lidar after adding noise, put lidar noise in config
-- [x] remove unnecessary use of dictionary. model st is 50% faster, mb is 150% faster.
-- [x] toggle renderer
-- [ ] verify collision
-- [x] scan toggle
-- [x] separate time step and integrater time step
-- [x] add frenet
-- [x] use correct loop count frenet_based, added max loop num
-- [ ] also add winding_angle
-- [x] simplify std_state and observation
-- [x] add option "state" in reset
-- [x] control_buffer_size, lidar fov, lidar nums in config
-- [ ] double check dynamics result
-- [x] implemented new rendering with pyqtgraph.opengl
-- [x] added 3d mesh renderering for proof of concept
-- [ ] merge lidar scan fix
+This is the repository of the F1TENTH Gym environment.
+
+This project is still under heavy developement.
+
+You can find the [documentation](https://f1tenth-gym.readthedocs.io/en/latest/) of the environment here.
 
 ## Quickstart
 We recommend installing the simulation inside a virtualenv. You can install the environment by running:
@@ -33,4 +25,41 @@ Then you can run a quick waypoint follow example by:
 ```bash
 cd examples
 python3 waypoint_follow.py
-```
\ No newline at end of file
+```
+
+A Dockerfile is also provided with support for the GUI with nvidia-docker (nvidia GPU required):
+```bash
+docker build -t f1tenth_gym_container -f Dockerfile .
+docker run --gpus all -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix f1tenth_gym_container
+````
+Then the same example can be ran.
+
+## Known issues
+- Library support issues on Windows. You must use Python 3.8 as of 10-2021
+- On MacOS Big Sur and above, when rendering is turned on, you might encounter the error:
+```
+ImportError: Can't find framework /System/Library/Frameworks/OpenGL.framework.
+```
+You can fix the error by installing a newer version of pyglet:
+```bash
+$ pip3 install pyglet==1.5.11
+```
+And you might see an error similar to
+```
+gym 0.17.3 requires pyglet<=1.5.0,>=1.4.0, but you'll have pyglet 1.5.11 which is incompatible.
+```
+which could be ignored. The environment should still work without error.
+
+## Citing
+If you find this Gym environment useful, please consider citing:
+
+```
+@inproceedings{okelly2020f1tenth,
+  title={F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning},
+  author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul},
+  booktitle={NeurIPS 2019 Competition and Demonstration Track},
+  pages={77--89},
+  year={2020},
+  organization={PMLR}
+}
+```

From a512d43e07e31f16c965bb3f4c6f21eb46910cef Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Thu, 10 Jul 2025 04:11:18 -0400
Subject: [PATCH 40/54] Fix rgb_array recording to work for windows, simpler,
 faster

---
 examples/run_in_empty_track.py                |  2 +-
 examples/video_recording.py                   |  5 +-
 f1tenth_gym/envs/rendering/__init__.py        |  2 -
 .../envs/rendering/rendering_pyqtgl.py        | 98 +++++++++----------
 4 files changed, 48 insertions(+), 59 deletions(-)

diff --git a/examples/run_in_empty_track.py b/examples/run_in_empty_track.py
index cb308868..de0c0265 100644
--- a/examples/run_in_empty_track.py
+++ b/examples/run_in_empty_track.py
@@ -27,7 +27,7 @@ def main():
             "observation_config": {"type": "kinematic_state"},
             "reset_config": {"type": "rl_random_static"},
         },
-        render_mode="human",
+        render_mode="unlimited",
     )
     planner = PurePursuitPlanner(track=track, wb=0.17145 + 0.15875)
 
diff --git a/examples/video_recording.py b/examples/video_recording.py
index d7adce47..e640a854 100644
--- a/examples/video_recording.py
+++ b/examples/video_recording.py
@@ -11,7 +11,7 @@ def main():
     work = {
         "mass": 3.463388126201571,
         "lf": 0.15597534362552312,
-        "tlad": 0.82461887897713965 * 2,
+        "tlad": 0.82461887897713965,
         "vgain": 1,
     }
 
@@ -26,11 +26,9 @@ def main():
             "model": "st",
             "params": F110Env.f1tenth_vehicle_params(),
             "observation_config": {"type": "kinematic_state"},
-            "params": {"mu": 1.0},
             "reset_config": {"type": "rl_random_static"},
         },
         render_mode="rgb_array",
-        # render_mode="unlimited",
     )
     env = gymnasium.wrappers.RecordVideo(env, f"video_{time.time()}")
     track = env.unwrapped.track
@@ -77,6 +75,7 @@ def main():
 
     print("Sim elapsed time:", laptime, "Real elapsed time:", time.time() - start)
 
+    # close env to trigger video saving
     env.close()
 
 
diff --git a/f1tenth_gym/envs/rendering/__init__.py b/f1tenth_gym/envs/rendering/__init__.py
index c1b95d63..4c25a2f8 100644
--- a/f1tenth_gym/envs/rendering/__init__.py
+++ b/f1tenth_gym/envs/rendering/__init__.py
@@ -41,8 +41,6 @@ def make_renderer(
             os.environ["QT_QPA_PLATFORM"] = "offscreen"
         from .rendering_pyqt import PyQtEnvRenderer as EnvRenderer
     elif render_spec.render_type == "pyqt6gl":
-        if render_mode in ["rgb_array", "rgb_array_list"]:
-            os.environ["QT_QPA_PLATFORM"] = "offscreen"
         from .rendering_pyqtgl import PyQtEnvRendererGL as EnvRenderer
     else:
         raise ValueError(f"Unknown render type: {render_spec.render_type}")
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index fd34628b..7848c656 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -1,3 +1,4 @@
+import signal
 import time, logging
 import os
 import numpy as np
@@ -12,8 +13,8 @@
 from .renderer import EnvRenderer, RenderSpec, ObjectRenderer
 from .pyqtgl_objects import PointsRenderer, LinesRenderer, ClosedLinesRenderer, CarRenderer
 from .mesh_renderer import MeshRenderer
-# import utilsuite
 from PIL import Image, ImageDraw, ImageFont
+import cv2
 
 class PyQtEnvRendererGL(EnvRenderer):
     def __init__(
@@ -26,8 +27,6 @@ def __init__(
         render_fps: int,
     ):
         super().__init__()
-        if render_mode == "rgb_array":
-            os.environ["QT_QPA_PLATFORM"] = render_spec.frame_output_method
         self.camera_free_rotation = 0
         self.params = params
         self.agent_ids = agent_ids
@@ -44,24 +43,24 @@ def __init__(
         self.obs = None
         self.zoom_level = 1.0
         self.init = True
-        # self.timer = utilsuite.Timer()
         
         fmt = QtGui.QSurfaceFormat()
         fmt.setSwapInterval(0)  # 0 = no vsync, 1 = vsync
         QtGui.QSurfaceFormat.setDefaultFormat(fmt)
         
         self.app = QtWidgets.QApplication.instance() or QtWidgets.QApplication([])
-        self.view = gl.GLViewWidget()
-        # self._apply_view_flip()
+        self.view = gl.GLViewWidget() 
+
         self.view.setCameraPosition(pos=QtGui.QVector3D(0, 0, 0), distance=self.default_camera_dist, elevation=90, azimuth=0)
-        self.view.setBackgroundColor((25, 25, 25))
-        self.view.resize(self.render_spec.window_size, self.render_spec.window_size)        
+        self.view.setBackgroundColor("w")
+        self.view.resize(self.render_spec.window_size, self.render_spec.window_size) 
+        self.prealloc_frame = np.zeros(
+            (self.render_spec.window_size, self.render_spec.window_size, 3), dtype=np.uint8
+        )
 
-        if self.render_mode != "rgb_array":
-            self.window = QtWidgets.QMainWindow()
-            self.window.setCentralWidget(self.view)
-            self.window.setWindowTitle("F1Tenth Gym - OpenGL")
-            self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
+        self.window = QtWidgets.QMainWindow()
+        self.window.setWindowTitle("F1Tenth Gym - OpenGL")
+        self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
         
         if self.render_spec.car_model == "2d":
             if not self.camera_free_rotation: self._enable_pan_only()
@@ -69,8 +68,9 @@ def __init__(
         self._init_map(track)
         
         # FPS label
-        text_rgb = (140, 140, 140)
-        if self.render_spec.frame_output_info_label or self.render_mode != "rgb_array":
+        text_rgb = (125, 125, 125)
+
+        if self.render_spec.frame_output_info_label:
             self.lap_label = QtWidgets.QLabel(self.view)
             font = QtGui.QFont("Arial", 14)
             self.lap_label.setFont(font)
@@ -81,7 +81,7 @@ def __init__(
             self.lap_label.resize(220, 30)
             self.lap_label.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
             self.lap_label.show()
-        if self.render_mode != "rgb_array":
+            
             self.fps_label = QtWidgets.QLabel(self.view)
             font = QtGui.QFont("Arial", 14)
             self.fps_label.setFont(font)
@@ -106,7 +106,14 @@ def __init__(
         self.car_colors = [
             tuple(ImageColor.getcolor(c, "RGB")) for c in render_spec.vehicle_palette
         ]
-        
+
+        if self.render_mode in ["human", "human_fast", 'unlimited']:
+            signal.signal(signal.SIGINT, signal.SIG_DFL)
+            self.window.setCentralWidget(self.view)
+            self.window.show()
+        elif self.render_mode == "rgb_array":
+            self.window.hide()
+
     def _apply_view_flip(self):
         """Apply a vertical flip transformation to the OpenGL view."""
         # Override the paintGL method to apply a Y-axis flip transformation
@@ -278,10 +285,8 @@ def render(self):
                 else:
                     self.font = ImageFont.truetype("arial.ttf", 20)
                 self.init = False
-            
-            if self.obs is not None and \
-                (self.render_mode != "rgb_array" or \
-                    self.render_spec.frame_output_info_label):
+            self.window.update()
+            if self.obs is not None and self.render_spec.frame_output_info_label:
                 self.lap_label.setText(f"Lap Time {self.obs[self.agent_ids[0]]['lap_time']:.2f}, " + 
                     f"Lap {int(self.obs[self.agent_ids[0]]['lap_count']):d}")
             start_time = time.time()
@@ -299,22 +304,15 @@ def render(self):
                 self.cars[i].render(self.car_scale)
             self.app.processEvents()
             
-            if self.render_mode in ["human", "human_fast", 'unlimited']:
-                self._update_fps()
-                if self.render_fps < float('inf'):
-                    elapsed = time.time() - start_time
-                    sleep_time = max(0.0, 1/self.render_fps - elapsed)
-                    time.sleep(sleep_time)
-            elif self.render_mode == "rgb_array":
-                # Option 1: Use ImageExporter (captures Qt widgets if any are in the scene)
-                # self.timer.tic("render", num=50)
-                if self.render_spec.frame_output_method == "xcb":
-                    frame = self.grab_frame_with_exporter()
+            self._update_fps()
+            if self.render_fps < float('inf'):
+                elapsed = time.time() - start_time
+                sleep_time = max(0.0, 1/self.render_fps - elapsed)
+                time.sleep(sleep_time)
                 
-                # Option 2: Use direct OpenGL framebuffer grab (current method)
-                if self.render_spec.frame_output_method == "offscreen":
-                    frame = self.grab_frame_as_rgb()
-                # self.timer.toc("render", Hz=1)
+            if self.render_mode == "rgb_array":
+                # Use direct OpenGL framebuffer grab (current method)
+                frame = self.grab_frame_as_rgb()
                 return frame
 
     def grab_frame_as_rgb(self) -> np.ndarray:
@@ -383,30 +381,24 @@ def _overlay_text_on_frame(self, img_array: np.ndarray) -> None:
         """
 
         height, width = img_array.shape[:2]
-        
-        # Convert numpy array to PIL Image
-        pil_img = Image.fromarray(img_array)
-        draw = ImageDraw.Draw(pil_img)
-        
-        # Text color (RGB format for PIL)
         color = (140, 140, 140)
-        
-        # Lap information text (top-right)
         if self.obs is not None:
             lap_time = self.obs[self.agent_ids[0]]['lap_time']
             lap_count = int(self.obs[self.agent_ids[0]]['lap_count'])
             lap_text = f"Lap Time: {lap_time:.2f}, Lap: {lap_count}"
-            
+
+            # Choose font and scale
+            font = cv2.FONT_HERSHEY_SIMPLEX
+            font_scale = 0.7
+            thickness = 2
+
             # Get text size for positioning
-            bbox = draw.textbbox((0, 0), lap_text, font=self.font)
-            text_width = bbox[2] - bbox[0]
+            (text_width, text_height), baseline = cv2.getTextSize(lap_text, font, font_scale, thickness)
             x_pos = width - text_width - 10
-            
-            # Draw text
-            draw.text((x_pos, 10), lap_text, font=self.font, fill=color)
-        
-        # Convert back to numpy array
-        img_array[:] = np.array(pil_img)
+            y_pos = 10 + text_height
+
+            # Draw text directly on the numpy array (OpenCV uses BGR, so reverse color)
+            cv2.putText(img_array, lap_text, (x_pos, y_pos), font, font_scale, color[::-1], thickness, cv2.LINE_AA)
 
         
     def add_renderer_callback(self, callback_fn):

From b57924b2ac91ff3dc5da42ae4bd89c2648625c1c Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Thu, 10 Jul 2025 22:57:43 -0400
Subject: [PATCH 41/54] Remove slow redundant window update

---
 f1tenth_gym/envs/rendering/rendering_pyqtgl.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 7848c656..18b620ab 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -285,7 +285,6 @@ def render(self):
                 else:
                     self.font = ImageFont.truetype("arial.ttf", 20)
                 self.init = False
-            self.window.update()
             if self.obs is not None and self.render_spec.frame_output_info_label:
                 self.lap_label.setText(f"Lap Time {self.obs[self.agent_ids[0]]['lap_time']:.2f}, " + 
                     f"Lap {int(self.obs[self.agent_ids[0]]['lap_count']):d}")

From e945a6e8ff2abc4558b4ab6168e652e3986ead61 Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Fri, 11 Jul 2025 04:13:31 -0400
Subject: [PATCH 42/54] Fix non-direct observations' velocities

---
 f1tenth_gym/envs/observation.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index 4b457d19..c04c0abc 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -297,8 +297,8 @@ def observe(self):
             x, y, theta = std_state[0], std_state[1], std_state[4]
             delta = std_state[2]
             beta = std_state[6]
-            vx = std_state[4] * np.cos(std_state[6])
-            vy = std_state[4] * np.sin(std_state[6])
+            vx = std_state[3] * np.cos(std_state[6])
+            vy = std_state[3] * np.sin(std_state[6])
             angvel = std_state[5]
 
             # create agent's observation dict

From db758f899684986b9bcf8e5a2ea93cc2d7227734 Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Tue, 15 Jul 2025 02:30:42 -0400
Subject: [PATCH 43/54] Default to 1 lap in config

---
 f1tenth_gym/envs/f110_env.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 4d756ebc..6ba6b6f6 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -207,7 +207,7 @@ def default_config(cls) -> dict:
             "timestep": 0.01,
             "integrator_timestep": 0.01,
             "ego_idx": 0,
-            "max_laps": 'inf',  # 'inf' for infinite laps, or a positive integer
+            "max_laps": 1,  # 'inf' for infinite laps, or a positive integer
             "integrator": "rk4",
             "model": "st", # "ks", "st", "mb"
             "control_input": ["speed", "steering_angle"], # ["speed", "steering_angle"], ["accl", "steering_speed"]

From 63a35d147341a339df46ef7c2f60d75a12c58f50 Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Tue, 15 Jul 2025 04:36:37 -0400
Subject: [PATCH 44/54] Default to rendering map image

---
 f1tenth_gym/envs/rendering/rendering.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/f1tenth_gym/envs/rendering/rendering.yaml b/f1tenth_gym/envs/rendering/rendering.yaml
index 3ccc956c..d35d7f2e 100644
--- a/f1tenth_gym/envs/rendering/rendering.yaml
+++ b/f1tenth_gym/envs/rendering/rendering.yaml
@@ -2,7 +2,7 @@ window_size: 800      # [px] width and height of the window
 focus_on: agent_0     # [str] agent id to focus on (e.g., agent_0) or null for map view
 zoom_in_factor: 0.5   # [float] zoom in factor. 1.0 is no zoom, >1.0 is zoom in, <1.0 is zoom out
 bigger_car_when_map_centered: True  # [bool] it toggles the size of the car when centered in the map
-render_map_img: False  # [bool] it toggles the visualization of the map image
+render_map_img: True  # [bool] it toggles the visualization of the map image
 show_wheels: True     # [bool] it toggles the visualization of the vehicle wheels
 car_tickness: 1       # [px] thickness of the car
 show_info: True       # [bool] it toggles the visualization of the instruction text

From fac1dfe3c5825de95f3ed552977e25272acef1c7 Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Tue, 15 Jul 2025 19:17:59 -0400
Subject: [PATCH 45/54] Add slow calc arclength. Update tests to -pi to pi yaws

---
 f1tenth_gym/envs/track/cubic_spline.py | 64 +++++++++++++-------------
 f1tenth_gym/envs/track/track.py        |  2 +-
 tests/test_cubic_spline.py             | 24 +++++-----
 3 files changed, 46 insertions(+), 44 deletions(-)

diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
index 78f78bed..274c6ba7 100644
--- a/f1tenth_gym/envs/track/cubic_spline.py
+++ b/f1tenth_gym/envs/track/cubic_spline.py
@@ -8,7 +8,7 @@
 import numpy as np
 from scipy import interpolate
 from typing import Union, Optional
-# import scipy.optimize as so
+import scipy.optimize as so
 from f1tenth_gym.envs.track.utils import nearest_point_on_trajectory
 from numba import njit
 
@@ -199,36 +199,36 @@ def calc_yaw(self, s: float, segment=None) -> Optional[float]:
         yaw = np.arctan2(sin, cos)
         return yaw
 
-    # def calc_arclength(
-    #     self, x: float, y: float, s_guess: float = 0.0
-    # ) -> tuple[float, float]:
-    #     """
-    #     Calculate arclength for a given point (x, y) on the trajectory.
-
-    #     Parameters
-    #     ----------
-    #     x : float
-    #         x position.
-    #     y : float
-    #         y position.
-    #     s_guess : float
-    #         initial guess for s.
-    #     Returns
-    #     -------
-    #     s : float
-    #         distance from the start point for given x, y.
-    #     ey : float
-    #         lateral deviation for given x, y.
-    #     """
-    #     def distance_to_spline(s):
-    #         x_eval, y_eval = self.spline(s)[0, :2]
-    #         return np.sqrt((x - x_eval) ** 2 + (y - y_eval) ** 2)
-    #     output = so.fmin(distance_to_spline, s_guess, full_output=True, disp=False)
-    #     closest_s = float(output[0][0])
-    #     absolute_distance = output[1]
-    #     return closest_s, absolute_distance
-
-    def calc_arclength_inaccurate(self, x: float, y: float, s_inds=None) -> tuple[float, float]:
+    def calc_arclength_slow(
+        self, x: float, y: float, s_guess: float = 0.0
+    ) -> tuple[float, float]:
+        """
+        Calculate arclength for a given point (x, y) on the trajectory.
+
+        Parameters
+        ----------
+        x : float
+            x position.
+        y : float
+            y position.
+        s_guess : float
+            initial guess for s.
+        Returns
+        -------
+        s : float
+            distance from the start point for given x, y.
+        ey : float
+            lateral deviation for given x, y.
+        """
+        def distance_to_spline(s):
+            x_eval, y_eval = self.spline(s)[0, :2]
+            return np.sqrt((x - x_eval) ** 2 + (y - y_eval) ** 2)
+        output = so.fmin(distance_to_spline, s_guess, full_output=True, disp=False)
+        closest_s = float(output[0][0])
+        absolute_distance = output[1]
+        return closest_s, absolute_distance
+
+    def calc_arclength(self, x: float, y: float, s_inds: np.ndarray = None) -> tuple[float, float]:
         """
         Fast calculation of arclength for a given point (x, y) on the trajectory.
         Less accuarate and less smooth than calc_arclength but much faster.
@@ -240,6 +240,8 @@ def calc_arclength_inaccurate(self, x: float, y: float, s_inds=None) -> tuple[fl
             x position.
         y : float
             y position.
+        s_inds : np.ndarray, optional
+            Indices of the points to consider for the calculation.
 
         Returns
         -------
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index 616a7851..a451cc75 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -464,7 +464,7 @@ def cartesian_to_frenet(self, x, y, psi, use_raceline=False, s_guess=None, use_s
         else:
             s_inds = None
         # print(max(line.spline.s[s_inds]), min(line.spline.s[s_inds]))
-        s, ey = line.spline.calc_arclength_inaccurate(x, y, s_inds) # inaccurate, but much faster
+        s, ey = line.spline.calc_arclength(x, y, s_inds) # inaccurate, but much faster
         # s, ey = line.spline.calc_arclength(x, y, s_guess)
         # Wrap around
         s = s % line.spline.s[-1]
diff --git a/tests/test_cubic_spline.py b/tests/test_cubic_spline.py
index 6612e157..4429165f 100644
--- a/tests/test_cubic_spline.py
+++ b/tests/test_cubic_spline.py
@@ -23,8 +23,8 @@ def test_calc_yaw(self):
         # Test the yaw at the four corners of the circle
         # The yaw of a circle is s + pi/2
         self.assertAlmostEqual(track.calc_yaw(0), np.pi / 2, places=2)
-        self.assertAlmostEqual(track.calc_yaw(np.pi / 2), np.pi, places=2)
-        self.assertAlmostEqual(track.calc_yaw(np.pi), 3 * np.pi / 2, places=2)
+        self.assertAlmostEqual(track.calc_yaw(np.pi / 2), -np.pi, places=2)
+        self.assertAlmostEqual(track.calc_yaw(np.pi), -np.pi / 2, places=2)
         self.assertAlmostEqual(track.calc_yaw(3 * np.pi / 2), 0, places=2)
 
     def test_calc_position(self):
@@ -48,32 +48,32 @@ def test_calc_position(self):
             )
         )
 
-    def test_calc_arclength(self):
+    def test_calc_arclength_slow(self):
         circle_x = np.cos(np.linspace(0, 2 * np.pi, 100))[:-1]
         circle_y = np.sin(np.linspace(0, 2 * np.pi, 100))[:-1]
         track = cubic_spline.CubicSplineND(circle_x, circle_y)
         # Test the arclength at the four corners of the circle
-        self.assertAlmostEqual(track.calc_arclength(1, 0, 0)[0], 0, places=2)
-        self.assertAlmostEqual(track.calc_arclength(0, 1, 0)[0], np.pi / 2, places=2)
+        self.assertAlmostEqual(track.calc_arclength_slow(1, 0, 0)[0], 0, places=2)
+        self.assertAlmostEqual(track.calc_arclength_slow(0, 1, 0)[0], np.pi / 2, places=2)
         self.assertAlmostEqual(
-            track.calc_arclength(-1, 0, np.pi / 2)[0], np.pi, places=2
+            track.calc_arclength_slow(-1, 0, np.pi / 2)[0], np.pi, places=2
         )
         self.assertAlmostEqual(
-            track.calc_arclength(0, -1, np.pi)[0], 3 * np.pi / 2, places=2
+            track.calc_arclength_slow(0, -1, np.pi)[0], 3 * np.pi / 2, places=2
         )
 
-    def test_calc_arclength_inaccurate(self):
+    def test_calc_arclength(self):
         circle_x = np.cos(np.linspace(0, 2 * np.pi, 100))[:-1]
         circle_y = np.sin(np.linspace(0, 2 * np.pi, 100))[:-1]
         track = cubic_spline.CubicSplineND(circle_x, circle_y)
         # Test the arclength at the four corners of the circle
-        self.assertAlmostEqual(track.calc_arclength_inaccurate(1, 0)[0], 0, places=2)
+        self.assertAlmostEqual(track.calc_arclength(1, 0)[0], 0, places=2)
         self.assertAlmostEqual(
-            track.calc_arclength_inaccurate(0, 1)[0], np.pi / 2, places=2
+            track.calc_arclength(-1, 0)[0], np.pi, places=2
         )
         self.assertAlmostEqual(
-            track.calc_arclength_inaccurate(-1, 0)[0], np.pi, places=2
+            track.calc_arclength(-1, 0)[0], np.pi, places=2
         )
         self.assertAlmostEqual(
-            track.calc_arclength_inaccurate(0, -1)[0], 3 * np.pi / 2, places=2
+            track.calc_arclength(0, -1)[0], 3 * np.pi / 2, places=2
         )

From a94eeec487151171465097a6768390eafe96e64e Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Tue, 15 Jul 2025 19:22:49 -0400
Subject: [PATCH 46/54] Fix dynamics test to new dynamics call

---
 tests/test_dynamics.py | 78 ++++++++++++++++++++----------------------
 1 file changed, 38 insertions(+), 40 deletions(-)

diff --git a/tests/test_dynamics.py b/tests/test_dynamics.py
index 9c30707c..a4ed9d10 100644
--- a/tests/test_dynamics.py
+++ b/tests/test_dynamics.py
@@ -50,27 +50,28 @@ def func_KS(
     v_min,
     v_max,
 ):
+    params = np.array([
+            mu,
+            C_Sf,
+            C_Sr,
+            lf,
+            lr,
+            h,
+            m,
+            I,
+            s_min,
+            s_max,
+            sv_min,
+            sv_max,
+            v_switch,
+            a_max,
+            v_min,
+            v_max,
+    ])
     f = vehicle_dynamics_ks(
         x,
         u,
-        params={
-            "mu": mu,
-            "C_Sf": C_Sf,
-            "C_Sr": C_Sr,
-            "lf": lf,
-            "lr": lr,
-            "h": h,
-            "m": m,
-            "I": I,
-            "s_min": s_min,
-            "s_max": s_max,
-            "sv_min": sv_min,
-            "sv_max": sv_max,
-            "v_switch": v_switch,
-            "a_max": a_max,
-            "v_min": v_min,
-            "v_max": v_max,
-        },
+        params=params,
     )
     return f
 
@@ -96,27 +97,28 @@ def func_ST(
     v_min,
     v_max,
 ):
+    params = np.array([
+            mu,
+            C_Sf,
+            C_Sr,
+            lf,
+            lr,
+            h,
+            m,
+            I,
+            s_min,
+            s_max,
+            sv_min,
+            sv_max,
+            v_switch,
+            a_max,
+            v_min,
+            v_max,
+    ])
     f = vehicle_dynamics_st(
         x,
         u,
-        params={
-            "mu": mu,
-            "C_Sf": C_Sf,
-            "C_Sr": C_Sr,
-            "lf": lf,
-            "lr": lr,
-            "h": h,
-            "m": m,
-            "I": I,
-            "s_min": s_min,
-            "s_max": s_max,
-            "sv_min": sv_min,
-            "sv_max": sv_max,
-            "v_switch": v_switch,
-            "a_max": a_max,
-            "v_min": v_min,
-            "v_max": v_max,
-        },
+        params=params,
     )
     return f
 
@@ -655,7 +657,3 @@ def test_zeroinit_rollleft_singletrack(self):
         ]
 
         np.testing.assert_array_almost_equal(x_left_st[-1], x_left_st_gt, decimal=2)
-
-
-if __name__ == "__main__":
-    unittest.main()

From 4cef577154dc2a805a69096ac2019af71fabb867 Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Wed, 16 Jul 2025 02:59:49 -0400
Subject: [PATCH 47/54] Fix sim time observation, add unwrapepd to state obs
 shape

---
 f1tenth_gym/envs/observation.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index c04c0abc..4a8cac21 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -46,7 +46,7 @@ def space(self):
                     low=-large_num, high=large_num, shape=(7,), dtype=np.float32
                 ),
                 "state": gym.spaces.Box(
-                    low=-large_num, high=large_num, shape=(int(self.env.model.state_dim),), dtype=np.float32
+                    low=-large_num, high=large_num, shape=(int(self.env.unwrapped.model.state_dim),), dtype=np.float32
                 ),
                 "collision": gym.spaces.Box(
                     low=0.0, high=1.0, shape=(), dtype=np.float32
@@ -190,7 +190,7 @@ def observe(self):
             "collisions": [],
             "lap_times": [],
             "lap_counts": [],
-            "sim_time": [],
+            "sim_time": self.env.unwrapped.sim_time,
         }
 
         for i, agent in enumerate(self.env.unwrapped.sim.agents):
@@ -215,7 +215,6 @@ def observe(self):
             observations["collisions"].append(collision)
             observations["lap_times"].append(lap_time)
             observations["lap_counts"].append(lap_count)
-            observations["sim_time"].append(self.env.unwrapped.sim_time)
 
         # cast to match observation space
         for key in observations.keys():

From b5436c95bae11f3ffd8551ac9fd0b3ce6df4ce68 Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Wed, 16 Jul 2025 03:30:35 -0400
Subject: [PATCH 48/54] Cast sim time to array to suppress warning

---
 f1tenth_gym/envs/observation.py | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index 4a8cac21..18a150ce 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -86,7 +86,7 @@ def observe(self):
                 "collision": agent.in_collision,
                 "lap_time": self.env.unwrapped.lap_times[i],
                 "lap_count": self.env.unwrapped.lap_counts[i],
-                "sim_time": self.env.unwrapped.sim_time,
+                "sim_time": np.array(self.env.unwrapped.sim_time, dtype=np.float32),
             }
             if self.env.unwrapped.config["compute_frenet"]:
                 agent_obs["frenet_pose"] = agent.frenet_pose if hasattr(agent, 'frenet_pose') else np.zeros(3)
@@ -190,7 +190,7 @@ def observe(self):
             "collisions": [],
             "lap_times": [],
             "lap_counts": [],
-            "sim_time": self.env.unwrapped.sim_time,
+            "sim_time": np.array(self.env.unwrapped.sim_time, dtype=np.float32),
         }
 
         for i, agent in enumerate(self.env.unwrapped.sim.agents):
@@ -256,6 +256,9 @@ def space(self):
                 "linear_vel_y": gym.spaces.Box(
                     low=-large_num, high=large_num, shape=(), dtype=np.float32
                 ),
+                "linear_vel_magnitude": gym.spaces.Box( # [AA] combined linear velocity, for ST observation
+                    low=-large_num, high=large_num, shape=(), dtype=np.float32
+                ),
                 "ang_vel_z": gym.spaces.Box(
                     low=-large_num, high=large_num, shape=(), dtype=np.float32
                 ),
@@ -306,6 +309,7 @@ def observe(self):
                 "pose_x": x,
                 "pose_y": y,
                 "pose_theta": theta,
+                "linear_vel_magnitude": std_state[3],
                 "linear_vel_x": vx,
                 "linear_vel_y": vy,
                 "ang_vel_z": angvel,
@@ -347,7 +351,7 @@ def observation_factory(env, type: str | None, **kwargs) -> Observation:
             "pose_x",
             "pose_y",
             "delta",
-            "linear_vel_x",
+            "linear_vel_magnitude",
             "pose_theta",
             "ang_vel_z",
             "beta",

From 41de22fa7c11cf7d7e4fbc1a1d5e43fcff853cf2 Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Wed, 16 Jul 2025 03:30:59 -0400
Subject: [PATCH 49/54] Update observation test to be consistent with new
 convention

---
 tests/test_observation.py | 54 +++++++++++++++++----------------------
 1 file changed, 24 insertions(+), 30 deletions(-)

diff --git a/tests/test_observation.py b/tests/test_observation.py
index 1872786f..cf7a98c6 100644
--- a/tests/test_observation.py
+++ b/tests/test_observation.py
@@ -44,6 +44,7 @@ def test_original_obs_space(self):
             "collisions",
             "lap_times",
             "lap_counts",
+            "sim_time",
         ]
 
         # check that the observation space has the correct types
@@ -116,13 +117,13 @@ def test_features_observation(self):
             ):
                 self.assertTrue(np.allclose(ground_truth, observation))
 
-    def test_unexisting_obs_space(self):
+    def test_nonexistent_obs_space(self):
         """
-        Check that an error is raised when an unexisting observation type is requested.
+        Check that an error is raised when a nonexistent observation type is requested.
         """
         env = self._make_env()
         with self.assertRaises(ValueError):
-            observation_factory(env, vehicle_id=0, type="unexisting_obs_type")
+            observation_factory(env, vehicle_id=0, type="nonexistent_obs_type")
 
     def test_kinematic_obs_space(self):
         """
@@ -143,7 +144,7 @@ def test_kinematic_obs_space(self):
         obs, _, _, _, _ = env.step(env.action_space.sample())
 
         for i, agent_id in enumerate(env.unwrapped.agent_ids):
-            pose_x, pose_y, _, velx, pose_theta, _, _ = env.unwrapped.sim.agents[i].state
+            pose_x, pose_y, _, vel, pose_theta, _, beta = env.unwrapped.sim.agents[i].state
             obs_x, obs_y, obs_theta = (
                 obs[agent_id]["pose_x"],
                 obs[agent_id]["pose_y"],
@@ -151,60 +152,53 @@ def test_kinematic_obs_space(self):
             )
             obs_velx = obs[agent_id]["linear_vel_x"]
 
-            for ground_truth, observed in zip(
-                [pose_x, pose_y, pose_theta, velx], [obs_x, obs_y, obs_theta, obs_velx]
-            ):
-                self.assertTrue(np.allclose(ground_truth, observed))
+            ground_truth = np.asarray([pose_x, pose_y, pose_theta, vel * np.cos(beta)], dtype=np.float32)
+            observed = np.asarray([obs_x, obs_y, obs_theta, obs_velx], dtype=np.float32)
+            self.assertTrue(np.allclose(ground_truth, observed))
 
     def test_dynamic_obs_space(self):
         """
         Check the dynamic state observation space contains the correct features.
         """
-        env = self._make_env(config={"observation_config": {"type": "original"}})
+        env = self._make_env(config={"observation_config": {"type": "dynamic_state"}})
 
-        kinematic_features = [
+        dynamic_features = [
             "pose_x",
             "pose_y",
             "pose_theta",
-            "linear_vel_x",
+            "linear_vel_magnitude",
             "ang_vel_z",
             "delta",
             "beta",
         ]
 
-        # check kinematic features are in the observation space
+        # check dynamic features are in the observation space
         for agent_id in env.unwrapped.agent_ids:
             space = env.observation_space.spaces[agent_id].spaces
-            self.assertTrue(all([k in space for k in kinematic_features]))
-            self.assertTrue(all([k in kinematic_features for k in space]))
+            self.assertTrue(all([k in space for k in dynamic_features]))
+            self.assertTrue(all([k in dynamic_features for k in space]))
 
         # check the actual observation
         obs, _ = env.reset()
         obs, _, _, _, _ = env.step(env.action_space.sample())
 
         for i, agent_id in enumerate(env.unwrapped.agent_ids):
-            pose_x, pose_y, delta, velx, pose_theta, _, beta = env.unwrapped.sim.agents[i].state
-
             agent_obs = obs[agent_id]
-            obs_x, obs_y, obs_theta = (
+            observed = np.array([
                 agent_obs["pose_x"],
                 agent_obs["pose_y"],
-                agent_obs["pose_theta"],
-            )
-            obs_velx, obs_delta, obs_beta = (
-                agent_obs["linear_vel_x"],
                 agent_obs["delta"],
+                agent_obs["linear_vel_magnitude"],
+                agent_obs["pose_theta"],
+                agent_obs["ang_vel_z"],
                 agent_obs["beta"],
-            )
-
-            for ground_truth, observed in zip(
-                [pose_x, pose_y, pose_theta, velx, delta, beta],
-                [obs_x, obs_y, obs_theta, obs_velx, obs_delta, obs_beta],
-            ):
-                self.assertTrue(np.allclose(ground_truth, observed))
+            ])
+            ground_truth = env.unwrapped.sim.agents[i].state.astype(np.float32)
+    
+            self.assertTrue(np.allclose(ground_truth, observed))
 
     def test_consistency_observe_space(self):
-        obs_type_ids = ["direct", "original"]
+        obs_type_ids = ["kinematic_state", "dynamic_state", "direct", "original"]
 
         env = self._make_env()
         env.reset()
@@ -222,7 +216,7 @@ def test_consistency_observe_space(self):
     def test_gymnasium_api(self):
         from gymnasium.utils.env_checker import check_env
 
-        obs_type_ids = ["direct", "original"]
+        obs_type_ids = ["direct", "original", "kinematic_state", "dynamic_state"]
 
         for obs_type_id in obs_type_ids:
             env = self._make_env(config={"observation_config": {"type": obs_type_id}})

From 3ef4153936b00a74bd25efcbb29336e295612a0a Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Wed, 16 Jul 2025 05:06:16 -0400
Subject: [PATCH 50/54] Close envs in test f110, fix configure test

---
 tests/test_f110_env.py | 24 ++++++++++++++++++------
 1 file changed, 18 insertions(+), 6 deletions(-)

diff --git a/tests/test_f110_env.py b/tests/test_f110_env.py
index b7d00f98..676a0e11 100644
--- a/tests/test_f110_env.py
+++ b/tests/test_f110_env.py
@@ -28,6 +28,7 @@ def test_gymnasium_api(self):
 
         env = self._make_env()
         check_env(env.unwrapped, skip_render_check=True)
+        env.close()
 
     def test_configure_method(self):
         """
@@ -74,16 +75,23 @@ def test_configure_method(self):
         t = 0
 
         while not done0 and not done1:
+            for agent in obs0:
+                for observation in obs0[agent]:
+                    if not np.allclose(obs0[agent][observation], obs1[agent][observation]):
+                        print(
+                            f"Observation {observation} should be the same for agent {agent}, "
+                            f"got {obs0[agent][observation]} != {obs1[agent][observation]}"
+                        )
+                    self.assertTrue(
+                        np.allclose(obs0[agent][observation], obs1[agent][observation]),
+                        f"Observation {observation} should be the same for agent {agent}",
+                    )
+            self.assertTrue(done0 == done1, "Done should be the same")
             action = base_env.action_space.sample()
             obs0, _, done0, _, _ = base_env.step(action)
             obs1, _, done1, _, _ = extended_env.step(action)
             base_env.render()
-            for k in obs0:
-                self.assertTrue(
-                    np.allclose(obs0[k], obs1[k]),
-                    f"Observations {k} should be the same",
-                )
-            self.assertTrue(done0 == done1, "Done should be the same")
+            extended_env.render()
             t += 1
 
         print(f"Done after {t} steps")
@@ -120,6 +128,7 @@ def test_configure_action_space(self):
             new_action_space_high[0][1] == new_v_max,
             f"Speed action high should be {new_v_max}",
         )
+        base_env.close()
 
     def test_acceleration_action_space(self):
         """
@@ -146,6 +155,7 @@ def test_acceleration_action_space(self):
             (action_space_high[0][1] - params["a_max"]) < 1e-6,
             "upper acceleration bound does not match a_max",
         )
+        base_env.close()
 
     def test_manual_reset_options_in_synch_vec_env(self):
         """
@@ -177,6 +187,7 @@ def test_manual_reset_options_in_synch_vec_env(self):
                     np.allclose(agent_pose, rnd_poses[i]),
                     f"pose of agent {agent_id} in env {ie} should be {rnd_poses[i]}, got {agent_pose}",
                 )
+        vec_env.close()
 
     def test_manual_reset_options_in_asynch_vec_env(self):
         """
@@ -208,6 +219,7 @@ def test_manual_reset_options_in_asynch_vec_env(self):
                     np.allclose(agent_pose, rnd_poses[i]),
                     f"pose of agent {agent_id} in env {ie} should be {rnd_poses[i]}, got {agent_pose}",
                 )
+        vec_env.close()
 
     def test_auto_reset_options_in_synch_vec_env(self):
         """

From c5facc5daf5e03d7e735081c54936b9ad5e4a71e Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Wed, 16 Jul 2025 05:08:59 -0400
Subject: [PATCH 51/54] Implement update params for scan simulator, and env
 renderer

---
 f1tenth_gym/envs/base_classes.py              | 67 ++++++++++++++++++-
 f1tenth_gym/envs/f110_env.py                  |  5 ++
 f1tenth_gym/envs/rendering/pyqtgl_objects.py  | 36 +++++++++-
 .../envs/rendering/rendering_pyqtgl.py        |  6 ++
 4 files changed, 111 insertions(+), 3 deletions(-)

diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
index c9342e1c..00be1a03 100644
--- a/f1tenth_gym/envs/base_classes.py
+++ b/f1tenth_gym/envs/base_classes.py
@@ -195,7 +195,7 @@ def __init__(
                         to_fr = dist_fr / np.sin(-angle - np.pi / 2)
                         self.side_distances[i] = min(to_side, to_fr)
 
-    def update_params(self, params):
+    def update_params(self, params: dict[str, float]) -> None:
         """
         Updates the physical parameters of the vehicle
         Note that does not need to be called at initialization of class anymore
@@ -209,6 +209,71 @@ def update_params(self, params):
         self.params = params
         self.params_arr = np.array([self.params[p] for p in self.sequential_params])
 
+        # Check if any of 'lidar_num_beams', 'lidar_fov', or 'lidar_noise_std' has changed, if so, update the scan simulator
+        if (
+            "lidar_num_beams" in params
+            or "lidar_fov" in params
+            or "lidar_noise_std" in params
+            or "lidar_range" in params
+        ):
+            self.fov = params.get("lidar_fov", self.fov)
+            self.num_beams = params.get("lidar_num_beams", self.num_beams)
+            self.lidar_noise = params.get("lidar_noise_std", self.lidar_noise)
+            self.lidar_max_range = params.get("lidar_range", self.lidar_max_range)
+            self.scan_simulator = ScanSimulator2D(
+                self.num_beams,
+                self.fov,
+                std_dev=self.lidar_noise,
+                max_range=self.lidar_max_range,
+            )
+
+        # Check if any of "width", "lf", or "lr" has changed, if so, update the distances
+        if (
+            ("width" in params or "lf" in params or "lr" in params)
+            and self.scan_simulator is not None
+        ):
+            scan_ang_incr = self.scan_simulator.get_increment()
+            self.params["width"] = params.get("width", self.params["width"])
+            self.params["lf"] = params.get("lf", self.params["lf"])
+            self.params["lr"] = params.get("lr", self.params["lr"])
+
+            # angles of each scan beam, distance from lidar to edge of car at each beam, and precomputed cosines of each angle
+            self.cosines = np.zeros((self.num_beams,))
+            self.scan_angles = np.zeros((self.num_beams,))
+            self.side_distances = np.zeros((self.num_beams,))
+
+            dist_sides = params["width"] / 2.0
+            dist_fr = (params["lf"] + params["lr"]) / 2.0
+
+            scan_ang_incr = self.scan_simulator.get_increment()
+            for i in range(self.num_beams):
+                angle = -self.fov / 2.0 + i * scan_ang_incr
+                self.scan_angles[i] = angle
+                self.cosines[i] = np.cos(angle)
+
+                if angle > 0:
+                    if angle < np.pi / 2:
+                        # between 0 and pi/2
+                        to_side = dist_sides / np.sin(angle)
+                        to_fr = dist_fr / np.cos(angle)
+                        self.side_distances[i] = min(to_side, to_fr)
+                    else:
+                        # between pi/2 and pi
+                        to_side = dist_sides / np.cos(angle - np.pi / 2.0)
+                        to_fr = dist_fr / np.sin(angle - np.pi / 2.0)
+                        self.side_distances[i] = min(to_side, to_fr)
+                else:
+                    if angle > -np.pi / 2:
+                        # between 0 and -pi/2
+                        to_side = dist_sides / np.sin(-angle)
+                        to_fr = dist_fr / np.cos(-angle)
+                        self.side_distances[i] = min(to_side, to_fr)
+                    else:
+                        # between -pi/2 and -pi
+                        to_side = dist_sides / np.cos(-angle - np.pi / 2)
+                        to_fr = dist_fr / np.sin(-angle - np.pi / 2)
+                        self.side_distances[i] = min(to_side, to_fr)
+
     def set_map(self, map: str | Track, map_scale: float = 1.0):
         """
         Sets the map for scan simulator
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 6ba6b6f6..b2d43b36 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -420,6 +420,11 @@ def configure(self, config: dict) -> None:
             if hasattr(self, "sim"):
                 self.sim.update_params(self.config["params"])
 
+            if hasattr(self, "renderer"):
+                if self.renderer is not None:
+                    # if renderer exists, update the params
+                    self.renderer.update_params(self.params)
+
             if hasattr(self, "action_space"):
                 # if some parameters changed, recompute action space
                 self.action_type = CarAction(
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index a5f96784..43dec0fb 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -51,7 +51,8 @@ def __init__(
             drawEdges=False,
             edgeColor=(0, 0, 0, 1)
         )
-        env_renderer.view.addItem(self.mesh)
+        self.env_renderer = env_renderer
+        self.env_renderer.view.addItem(self.mesh)
 
         self.origin = map_origin
         self.resolution = resolution
@@ -64,7 +65,38 @@ def __init__(
         self.tire_width = 0.1
         self.tire_length = self.wheel_size
         
-    
+    def update_params(self, params: dict[str, Any]) -> None:
+        """
+        Update the parameters of the car renderer.
+        """
+        if "car_length" in params:
+            self.car_length = params["car_length"]
+        if "car_width" in params:
+            self.car_width = params["car_width"]
+        if "wheel_size" in params:
+            self.wheel_size = params["wheel_size"]
+        
+        # Recalculate base rectangle
+        hl = self.car_length / 2
+        hw = self.car_width / 2
+        self.base_rect = np.array([
+            [-hl, -hw, 0],
+            [ hl, -hw, 0],
+            [ hl,  hw, 0],
+            [-hl,  hw, 0],
+        ], dtype=np.float32)
+
+        self.env_renderer.view.removeItem(self.mesh)
+        self.mesh = gl.GLMeshItem(
+            vertexes=self.base_rect,
+            faces=self.faces,
+            faceColors=self.rgba,
+            smooth=False,
+            drawEdges=False,
+            edgeColor=(0, 0, 0, 1)
+        )
+        self.env_renderer.view.addItem(self.mesh)
+
     def apply_pose(self, pose, scale=1.0):
         x, y, yaw = pose
         c, s = np.cos(yaw), np.sin(yaw)
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 18b620ab..4aaaae1f 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -114,6 +114,12 @@ def __init__(
         elif self.render_mode == "rgb_array":
             self.window.hide()
 
+    def update_params(self, params: dict[str, Any]) -> None:
+        self.params.update(params)
+        if self.cars is not None:
+            for car in self.cars:
+                car.update_params(params)
+
     def _apply_view_flip(self):
         """Apply a vertical flip transformation to the OpenGL view."""
         # Override the paintGL method to apply a Y-axis flip transformation

From b386f30ffe568349c538b957e825253b4153e6d9 Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Tue, 22 Jul 2025 02:46:57 -0400
Subject: [PATCH 52/54] 3.9 compatible typing

---
 f1tenth_gym/envs/observation.py                |  4 ++--
 f1tenth_gym/envs/rendering/mesh_renderer.py    |  3 ++-
 f1tenth_gym/envs/rendering/pyqt_objects.py     | 16 ++++++++--------
 f1tenth_gym/envs/rendering/pyqtgl_objects.py   |  6 +++---
 f1tenth_gym/envs/rendering/rendering_pyqt.py   |  8 ++++----
 f1tenth_gym/envs/rendering/rendering_pyqtgl.py |  8 ++++----
 f1tenth_gym/envs/reset/__init__.py             |  3 ++-
 7 files changed, 25 insertions(+), 23 deletions(-)

diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index 18a150ce..16ff4a9e 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -1,6 +1,6 @@
 from __future__ import annotations
 from abc import abstractmethod
-from typing import List
+from typing import List, Optional
 
 import gymnasium as gym
 import numpy as np
@@ -334,7 +334,7 @@ def observe(self):
         return obs
 
 
-def observation_factory(env, type: str | None, **kwargs) -> Observation:
+def observation_factory(env, type: Optional[str], **kwargs) -> Observation:
     type = type or "original"
 
     if type == "original":
diff --git a/f1tenth_gym/envs/rendering/mesh_renderer.py b/f1tenth_gym/envs/rendering/mesh_renderer.py
index 7c93d1ad..b1d22191 100644
--- a/f1tenth_gym/envs/rendering/mesh_renderer.py
+++ b/f1tenth_gym/envs/rendering/mesh_renderer.py
@@ -1,6 +1,7 @@
 import sys
 import numpy as np
 from pathlib import Path
+from typing import Optional
 from pyqtgraph.opengl import MeshData, GLMeshItem
 
 from .renderer import RenderSpec, EnvRenderer, ObjectRenderer
@@ -13,7 +14,7 @@ def __init__(self,
         resolution: float,
         car_length: float,
         car_width: float,
-        color: list[int] | None = None,
+        color: Optional[list[int]] = None,
         wheel_size: float = 0.2
         ):
         super().__init__()
diff --git a/f1tenth_gym/envs/rendering/pyqt_objects.py b/f1tenth_gym/envs/rendering/pyqt_objects.py
index fe0d2e06..3d2bb129 100644
--- a/f1tenth_gym/envs/rendering/pyqt_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqt_objects.py
@@ -7,7 +7,7 @@
 
 from .renderer import RenderSpec, EnvRenderer, ObjectRenderer
 from ..collision_models import get_vertices, get_trmtx
-from typing import Optional, Any
+from typing import Optional, Any, Union
 
 from numba import njit
 
@@ -16,7 +16,7 @@ class LinesRenderer(ObjectRenderer):
     def __init__(
         self, 
         env_renderer: EnvRenderer,
-        points: list | np.ndarray, 
+        points: Union[list, np.ndarray], 
         color: Optional[tuple[int, int, int]] = (0, 0, 255), 
         size: Optional[int] = 1
         ):
@@ -25,14 +25,14 @@ def __init__(
             points[:, 0], points[:, 1], pen=pen, fillLevel=None, antialias=True
         )
         
-    def update(self, points: list | np.ndarray) -> None:
+    def update(self, points: Union[list, np.ndarray]) -> None:
         self.renderer.updateItems(points)
         
 class ClosedLinesRenderer(ObjectRenderer):
     def __init__(
         self, 
         env_renderer: EnvRenderer,
-        points: list | np.ndarray, 
+        points: Union[list, np.ndarray], 
         color: Optional[tuple[int, int, int]] = (0, 0, 255), 
         size: Optional[int] = 1
         ):
@@ -45,14 +45,14 @@ def __init__(
             points[:, 0], points[:, 1], pen=pen, cosmetic=True, antialias=True
         ) ## setting pen=None disables line drawing
         
-    def update(self, points: list | np.ndarray) -> None:
+    def update(self, points: Union[list, np.ndarray]) -> None:
         self.renderer.updateItems(points)
 
 class PointsRenderer(ObjectRenderer):
     def __init__(
         self, 
         env_renderer: EnvRenderer,
-        points: list | np.ndarray, 
+        points: Union[list, np.ndarray], 
         color: Optional[tuple[int, int, int]] = (0, 0, 255), 
         size: Optional[int] = 1
         ):
@@ -66,7 +66,7 @@ def __init__(
             symbolSize=size,
         )
         
-    def update(self, points: list | np.ndarray) -> None:
+    def update(self, points: Union[list, np.ndarray]) -> None:
         self.renderer.setData(points)
 
 
@@ -284,7 +284,7 @@ def __init__(
         resolution: float,
         car_length: float,
         car_width: float,
-        color: list[int] | None = None,
+        color: Optional[list[int]] = None,
         wheel_size: float = 0.2,
         parent: pg.PlotWidget = None,
     ):
diff --git a/f1tenth_gym/envs/rendering/pyqtgl_objects.py b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
index 43dec0fb..55bf295d 100644
--- a/f1tenth_gym/envs/rendering/pyqtgl_objects.py
+++ b/f1tenth_gym/envs/rendering/pyqtgl_objects.py
@@ -4,7 +4,7 @@
 import pyqtgraph.opengl as gl
 
 from .renderer import RenderSpec, EnvRenderer, ObjectRenderer
-from typing import Optional, Any
+from typing import Optional, Any, Union
 
 
 class CarRenderer(ObjectRenderer):
@@ -19,7 +19,7 @@ def __init__(
         resolution: float,
         car_length: float,
         car_width: float,
-        color: list[int] | None = None,
+        color: Optional[list[int]] = None,
         wheel_size: float = 0.2
     ):
         self.car_length = car_length
@@ -142,7 +142,7 @@ class LinesRenderer(ObjectRenderer):
     def __init__(
         self, 
         env_renderer: EnvRenderer,
-        points: list | np.ndarray, 
+        points: Union[list, np.ndarray], 
         color: Optional[tuple[int, int, int]] = (0, 0, 255), 
         size: Optional[int] = 1,
         z_offset: float = 0.02
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqt.py b/f1tenth_gym/envs/rendering/rendering_pyqt.py
index 27bd5535..6122b7d1 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqt.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqt.py
@@ -1,7 +1,7 @@
 from __future__ import annotations
 import logging
 import math
-from typing import Any, Callable, Optional
+from typing import Any, Callable, Optional, Union
 import signal
 
 import cv2
@@ -354,7 +354,7 @@ def render(self) -> Optional[np.ndarray]:
 
     def get_points_renderer(
         self,
-        points: list | np.ndarray,
+        points: Union[list, np.ndarray],
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
     ) -> ObjectRenderer:
@@ -362,7 +362,7 @@ def get_points_renderer(
 
     def get_lines_renderer(
         self,
-        points: list | np.ndarray,
+        points: Union[list, np.ndarray],
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
     ) -> ObjectRenderer:
@@ -370,7 +370,7 @@ def get_lines_renderer(
 
     def get_closed_lines_renderer(
         self,
-        points: list | np.ndarray,
+        points: Union[list, np.ndarray],
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
     ) -> ObjectRenderer:
diff --git a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
index 4aaaae1f..2415b546 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqtgl.py
@@ -4,7 +4,7 @@
 import numpy as np
 import pyqtgraph.opengl as gl
 from PyQt6 import QtWidgets, QtCore, QtGui
-from typing import Any, Optional
+from typing import Any, Optional, Union
 from PIL import ImageColor
 from PyQt6.QtGui import QImage
 import OpenGL.GL as gl_module
@@ -431,7 +431,7 @@ def _update_fps(self):
 
     def get_points_renderer(
         self,
-        points: list | np.ndarray,
+        points: Union[list, np.ndarray],
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
         **kwargs
@@ -440,7 +440,7 @@ def get_points_renderer(
 
     def get_lines_renderer(
         self,
-        points: list | np.ndarray,
+        points: Union[list, np.ndarray],
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1, 
         **kwargs
@@ -449,7 +449,7 @@ def get_lines_renderer(
 
     def get_closed_lines_renderer(
         self,
-        points: list | np.ndarray,
+        points: Union[list, np.ndarray],
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
         **kwargs
diff --git a/f1tenth_gym/envs/reset/__init__.py b/f1tenth_gym/envs/reset/__init__.py
index c1a80191..90328b24 100644
--- a/f1tenth_gym/envs/reset/__init__.py
+++ b/f1tenth_gym/envs/reset/__init__.py
@@ -3,9 +3,10 @@
 from .map_reset import AllMapResetFn
 from .reset_fn import ResetFn
 from ..track import Track
+from typing import Optional
 
 
-def make_reset_fn(type: str | None, track: Track, num_agents: int, **kwargs) -> ResetFn:
+def make_reset_fn(track: Track, num_agents: int, type: Optional[str] = None, **kwargs) -> ResetFn:
     type = type or "rl_grid_static"
 
     try:

From 8301fbe34c4bd19d2ecc3c2cfa2fc971ee58c7de Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Tue, 22 Jul 2025 05:31:29 -0400
Subject: [PATCH 53/54] Update qt rendering with pan and zoom callbacks

---
 f1tenth_gym/envs/rendering/rendering_pyqt.py | 138 +++++++++++++------
 1 file changed, 96 insertions(+), 42 deletions(-)

diff --git a/f1tenth_gym/envs/rendering/rendering_pyqt.py b/f1tenth_gym/envs/rendering/rendering_pyqt.py
index 6122b7d1..24bff368 100644
--- a/f1tenth_gym/envs/rendering/rendering_pyqt.py
+++ b/f1tenth_gym/envs/rendering/rendering_pyqt.py
@@ -3,8 +3,8 @@
 import math
 from typing import Any, Callable, Optional, Union
 import signal
+from time import perf_counter
 
-import cv2
 import numpy as np
 from PyQt6 import QtWidgets, QtCore
 from PyQt6 import QtGui
@@ -16,11 +16,24 @@
 from ..track import Track
 from .renderer import EnvRenderer, ObjectRenderer, RenderSpec
 
+# Enable OpenGL backend for better performance
+pg.setConfigOptions(useOpenGL=True, antialias=False)
+
+try:
+    from pyqtgraph.widgets.RawImageWidget import RawImageGLWidget
+except ImportError:
+    RawImageGLWidget = None
+
+if RawImageGLWidget is not None:
+    # don't limit frame rate to vsync
+    sfmt = QtGui.QSurfaceFormat()
+    sfmt.setSwapInterval(0)
+    QtGui.QSurfaceFormat.setDefaultFormat(sfmt)
+
 # one-line instructions visualized at the top of the screen (if show_info=True)
 INSTRUCTION_TEXT = "Mouse click (L/M/R): Change POV - 'S' key: On/Off"
 
 # Replicated from pyqtgraphs' example utils for ci pipelines to pass
-from time import perf_counter
 class FrameCounter(QtCore.QObject):
     sigFpsUpdate = QtCore.pyqtSignal(object)
 
@@ -100,17 +113,16 @@ def __init__(
         self.canvas: pg.PlotItem = self.window.addPlot()
 
         # Disable interactivity
-        self.canvas.setMouseEnabled(x=True, y=True)  # Disable mouse panning & zooming
+        self.canvas.setMouseEnabled(x=False, y=False)  # Disable mouse panning & zooming
         self.canvas.hideButtons()  # Disable corner auto-scale button
         self.canvas.setMenuEnabled(False)  # Disable right-click context menu
 
-        legend = self.canvas.addLegend()  # This doesn't disable legend interaction
-        # Override both methods responsible for mouse events
-        legend.mouseDragEvent = lambda *args, **kwargs: None
-        legend.hoverEvent = lambda *args, **kwargs: None
-        # self.scene() is a pyqtgraph.GraphicsScene.GraphicsScene.GraphicsScene
-        self.window.scene().sigMouseClicked.connect(self.mouse_clicked)
+        self.window.scene().mousePressEvent = self.mouse_clicked
+        self.window.scene().mouseReleaseEvent = self.mouse_released
         self.window.keyPressEvent = self.key_pressed
+        self.window.scene().wheelEvent = self.mouse_wheel
+        self.left_clicked = False
+        self.window.scene().mouseMoveEvent = self.mouse_move
 
         # Remove axes
         self.canvas.hideAxis("bottom")
@@ -132,6 +144,10 @@ def __init__(
             self.clock.sigFpsUpdate.connect(
                 lambda fps: self.fps_renderer.render(f"FPS: {fps:.1f}")
             )
+            
+        # Cache for reducing string updates
+        self._last_fps_text = ""
+        self._last_time_text = ""
 
         colors_rgb = [
             [rgb for rgb in ImageColor.getcolor(c, "RGB")]
@@ -141,8 +157,6 @@ def __init__(
             colors_rgb[i % len(colors_rgb)] for i in range(len(self.agent_ids))
         ]
 
-        width, height = render_spec.window_size, render_spec.window_size
-
         # map metadata
         self.map_origin = track.spec.origin
         self.map_resolution = track.spec.resolution
@@ -158,6 +172,8 @@ def __init__(
         track_map = np.flip(track_map, axis=0)  # flip vertically
 
         self.image_item = pg.ImageItem(track_map)
+        # Performance optimization: set levels for faster rendering
+        self.image_item.setLevels([0, 255])
         # Example: Transformed display of ImageItem
         tr = QtGui.QTransform()  # prepare ImageItem transformation:
         # Translate image by the origin of the map
@@ -174,11 +190,9 @@ def __init__(
         self.draw_flag: bool = True
         if render_spec.focus_on:
             self.active_map_renderer = "car"
-            self.follow_agent_flag: bool = True
             self.agent_to_follow: int = self.agent_ids.index(render_spec.focus_on)
         else:
             self.active_map_renderer = "map"
-            self.follow_agent_flag: bool = False
             self.agent_to_follow: int = None
 
         if self.render_mode in ["human", "human_fast", 'unlimited']:
@@ -186,6 +200,9 @@ def __init__(
             self.window.show()
         elif self.render_mode == "rgb_array":
             self.exporter = ImageExporter(self.canvas)
+            # Performance optimization: set export parameters
+            self.exporter.parameters()['width'] = self.render_spec.window_size
+            self.exporter.parameters()['height'] = self.render_spec.window_size
 
     def update(self, obs: dict) -> None:
         """
@@ -242,42 +259,72 @@ def key_pressed(self, event: QtGui.QKeyEvent) -> None:
             self.draw_flag = not self.draw_flag
             # self.draw_flag_changed = True
 
-    def mouse_clicked(self, event: QtGui.QMouseEvent) -> None:
+    def mouse_wheel(self, event: QtWidgets.QGraphicsSceneWheelEvent) -> None:
         """
-        Handle mouse click events.
+        Handle mouse wheel events for zooming in and out.
 
         Parameters
         ----------
-        event : QtGui.QMouseEvent
-            mouse event
+        event : QtWidgets.QGraphicsSceneWheelEvent
+            wheel event
         """
-        if event.button() == QtCore.Qt.MouseButton.LeftButton:
-            logging.debug("Pressed left button -> Follow Next agent")
-
-            self.follow_agent_flag = True
-            if self.agent_to_follow is None:
-                self.agent_to_follow = 0
-            else:
-                self.agent_to_follow = (self.agent_to_follow + 1) % len(self.agent_ids)
+        self.render_spec.zoom_in_factor *= 1.1 if event.delta() > 0 else 0.9
+        self.render_spec.zoom_in_factor = max(0.1, self.render_spec.zoom_in_factor)
+        
+    def mouse_released(self, event: QtWidgets.QGraphicsSceneMouseEvent) -> None:
+        """
+        Handle mouse release events to stop panning.
 
+        Parameters
+        ----------
+        event : QtWidgets.QGraphicsSceneMouseEvent
+            mouse event
+        """
+        if self.left_clicked:
+            logging.debug("Left mouse button released -> Stopping panning")
+            self.left_clicked = False
+
+    def mouse_clicked(self, event: QtWidgets.QGraphicsSceneMouseEvent) -> None:
+        """Handle mouse clicks for agent switching and map view"""
+        # Right click: cycle to next agent
+        if event.button() == QtCore.Qt.MouseButton.RightButton:
             self.active_map_renderer = "car"
-        elif event.button() == QtCore.Qt.MouseButton.RightButton:
-            logging.debug("Pressed right button -> Follow Previous agent")
-
-            self.follow_agent_flag = True
             if self.agent_to_follow is None:
                 self.agent_to_follow = 0
             else:
-                self.agent_to_follow = (self.agent_to_follow - 1) % len(self.agent_ids)
-
-            self.active_map_renderer = "car"
+                self.agent_to_follow = (self.agent_to_follow + 1) % len(self.agent_ids)
+        
+        # Middle click: switch to map view
         elif event.button() == QtCore.Qt.MouseButton.MiddleButton:
-            logging.debug("Pressed middle button -> Change to Map View")
-
-            self.follow_agent_flag = False
-            self.agent_to_follow = None
+            logging.debug("Pressed middle button -> Toggling Map View")
+            if self.active_map_renderer == "map":
+                self.active_map_renderer = "car"
+                if self.agent_to_follow is None:
+                    self.agent_to_follow = 0
+            else:
+                self.agent_to_follow = None
+                self.active_map_renderer = "map"
+
+        elif event.button() == QtCore.Qt.MouseButton.LeftButton:
+            logging.debug("Pressed left button -> Panning")
+            self.left_clicked = True
+    
+    def mouse_move(self, event: QtWidgets.QGraphicsSceneMouseEvent) -> None:
+        """
+        Handle mouse move events for panning.
 
-            self.active_map_renderer = "map"
+        Parameters
+        ----------
+        event : QtWidgets.QGraphicsSceneMouseEvent
+            mouse event
+        """
+        if self.left_clicked:
+            logging.debug("Left mouse button dragged -> Panning")
+            # Flip up-down movement
+            delta_pos = event.lastScenePos() - event.scenePos()
+            delta_pos = QtCore.QPointF(delta_pos.x(), -delta_pos.y())
+            self.camera_pos += (delta_pos / (4 * self.render_spec.zoom_in_factor))
+            self.active_map_renderer = "pan"
 
     def render(self) -> Optional[np.ndarray]:
         """
@@ -298,12 +345,19 @@ def render(self) -> Optional[np.ndarray]:
             for i in range(len(self.agent_ids)):
                 self.cars[i].render()
 
-            if self.follow_agent_flag:
-                ego_x, ego_y = self.cars[self.agent_to_follow].pose[:2]
-                self.canvas.setXRange(ego_x - 10 / self.render_spec.zoom_in_factor, ego_x + 10 / self.render_spec.zoom_in_factor)
-                self.canvas.setYRange(ego_y - 10 / self.render_spec.zoom_in_factor, ego_y + 10 / self.render_spec.zoom_in_factor)
-            else:
+            if self.active_map_renderer == "car":
+                pos = self.cars[self.agent_to_follow].pose[:2]
+                self.camera_pos = QtCore.QPointF(float(pos[0]), float(pos[1]))
+                self.canvas.setXRange(self.camera_pos.x() - 10 / self.render_spec.zoom_in_factor, self.camera_pos.x() + 10 / self.render_spec.zoom_in_factor)
+                self.canvas.setYRange(self.camera_pos.y() - 10 / self.render_spec.zoom_in_factor, self.camera_pos.y() + 10 / self.render_spec.zoom_in_factor)
+            elif self.active_map_renderer == "pan":
+                self.canvas.setXRange(self.camera_pos.x() - 10 / self.render_spec.zoom_in_factor, self.camera_pos.x() + 10 / self.render_spec.zoom_in_factor)
+                self.canvas.setYRange(self.camera_pos.y() - 10 / self.render_spec.zoom_in_factor, self.camera_pos.y() + 10 / self.render_spec.zoom_in_factor)
+            elif self.active_map_renderer == "map":
                 self.canvas.autoRange()
+                self.camera_pos = self.canvas.viewRect().center()
+            else:
+                raise ValueError(f"Unknown active_map_renderer: {self.active_map_renderer}")
                 
             agent_to_follow_id = (
                 self.agent_ids[self.agent_to_follow]

From 9991be49aef16586e9f78eb6e7924184d118e66c Mon Sep 17 00:00:00 2001
From: Ahmad Amine 
Date: Tue, 22 Jul 2025 05:34:56 -0400
Subject: [PATCH 54/54] Default to pyqt for fast video recording

---
 f1tenth_gym/envs/rendering/__init__.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/f1tenth_gym/envs/rendering/__init__.py b/f1tenth_gym/envs/rendering/__init__.py
index 4c25a2f8..6b7249e1 100644
--- a/f1tenth_gym/envs/rendering/__init__.py
+++ b/f1tenth_gym/envs/rendering/__init__.py
@@ -41,7 +41,11 @@ def make_renderer(
             os.environ["QT_QPA_PLATFORM"] = "offscreen"
         from .rendering_pyqt import PyQtEnvRenderer as EnvRenderer
     elif render_spec.render_type == "pyqt6gl":
-        from .rendering_pyqtgl import PyQtEnvRendererGL as EnvRenderer
+        if render_mode in ["rgb_array", "rgb_array_list"]:
+            os.environ["QT_QPA_PLATFORM"] = "offscreen"
+            from .rendering_pyqt import PyQtEnvRenderer as EnvRenderer
+        else:
+            from .rendering_pyqtgl import PyQtEnvRendererGL as EnvRenderer
     else:
         raise ValueError(f"Unknown render type: {render_spec.render_type}")

def f110_gym.envs.base_classes.RaceCar.update_pose def f110_gym.envs.base_classes.RaceCar.update_dynamic (   self,