Merge Zirui's changes in

docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car-members.html

@@ -97,7 +97,7 @@
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ttc_thresh</b> (defined in <a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html">f110_gym.envs.base_classes.RaceCar</a>)</td><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html">f110_gym.envs.base_classes.RaceCar</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a4800c5ac90ba93b79a0338e5e34ead43">update_opp_poses</a>(self, opp_poses)</td><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html">f110_gym.envs.base_classes.RaceCar</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a6ab5b5dd420b182b5156ee9566c03411">update_params</a>(self, params)</td><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html">f110_gym.envs.base_classes.RaceCar</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#ae12c14c1353e6aab2f72036593d85518">update_pose</a>(self, raw_steer, vel)</td><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html">f110_gym.envs.base_classes.RaceCar</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#ae12c14c1353e6aab2f72036593d85518">update_dynamic</a>(self, raw_steer, vel)</td><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html">f110_gym.envs.base_classes.RaceCar</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a356ec05a0a0c056f4d43f5fb0451c83d">update_scan</a>(self)</td><td class="entry"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html">f110_gym.envs.base_classes.RaceCar</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
 <!-- start footer part -->

docs/html/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html

@@ -106,7 +106,7 @@
 <tr class="separator:a7d15e74a1b82646675d60ce02cdce6b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a4577a30fd8879de7df1d0ace7702f450"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a4577a30fd8879de7df1d0ace7702f450">check_ttc</a> (self)</td></tr>
 <tr class="separator:a4577a30fd8879de7df1d0ace7702f450"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ae12c14c1353e6aab2f72036593d85518"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#ae12c14c1353e6aab2f72036593d85518">update_pose</a> (self, raw_steer, vel)</td></tr>
+<tr class="memitem:ae12c14c1353e6aab2f72036593d85518"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#ae12c14c1353e6aab2f72036593d85518">update_dynamic</a> (self, raw_steer, vel)</td></tr>
 <tr class="separator:ae12c14c1353e6aab2f72036593d85518"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a4800c5ac90ba93b79a0338e5e34ead43"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#a4800c5ac90ba93b79a0338e5e34ead43">update_opp_poses</a> (self, opp_poses)</td></tr>
 <tr class="separator:a4800c5ac90ba93b79a0338e5e34ead43"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -457,13 +457,13 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6ab5b5dd420b182b5156ee95
 </div>
 </div>
 <a id="ae12c14c1353e6aab2f72036593d85518"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ae12c14c1353e6aab2f72036593d85518">&#9670;&nbsp;</a></span>update_pose()</h2>
+<h2 class="memtitle"><span class="permalink"><a href="#ae12c14c1353e6aab2f72036593d85518">&#9670;&nbsp;</a></span>update_dynamic()</h2>
 
 <div class="memitem">
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">def f110_gym.envs.base_classes.RaceCar.update_pose </td>
+          <td class="memname">def f110_gym.envs.base_classes.RaceCar.update_dynamic </td>
           <td>(</td>
           <td class="paramtype">&#160;</td>
           <td class="paramname"><em>self</em>, </td>
@@ -514,7 +514,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a356ec05a0a0c056f4d43f5fb
       </table>
 </div><div class="memdoc">
 <pre class="fragment">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

docs/html/functions.html

@@ -175,7 +175,7 @@ <h3><a id="index_u"></a>- u -</h3><ul>
 , <a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_simulator.html#a974c58957a6b14582149d704ef28a68c">f110_gym.envs.base_classes.Simulator</a>
 , <a class="el" href="classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.html#a79d419bbf2ff0e377d808e4a8f41cc81">f110_gym.envs.f110_env.F110Env</a>
 </li>
-<li>update_pose()
+<li>update_dynamic()
 : <a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#ae12c14c1353e6aab2f72036593d85518">f110_gym.envs.base_classes.RaceCar</a>
 </li>
 <li>update_scan()

docs/html/functions_func.html

@@ -175,7 +175,7 @@ <h3><a id="index_u"></a>- u -</h3><ul>
 , <a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_simulator.html#a974c58957a6b14582149d704ef28a68c">f110_gym.envs.base_classes.Simulator</a>
 , <a class="el" href="classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.html#a79d419bbf2ff0e377d808e4a8f41cc81">f110_gym.envs.f110_env.F110Env</a>
 </li>
-<li>update_pose()
+<li>update_dynamic()
 : <a class="el" href="classf110__gym_1_1envs_1_1base__classes_1_1_race_car.html#ae12c14c1353e6aab2f72036593d85518">f110_gym.envs.base_classes.RaceCar</a>
 </li>
 <li>update_scan()

docs/xml/base__classes_8py.xml

@@ -242,7 +242,7 @@
 <codeline lineno="230"><highlight class="normal"></highlight></codeline>
 <codeline lineno="231"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>in_collision</highlight></codeline>
 <codeline lineno="232"><highlight class="normal"></highlight></codeline>
-<codeline lineno="233"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">def<sp/></highlight><highlight class="normal"><ref refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1ae12c14c1353e6aab2f72036593d85518" kindref="member">update_pose</ref>(self,<sp/>raw_steer,<sp/>vel):</highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">def<sp/></highlight><highlight class="normal"><ref refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1ae12c14c1353e6aab2f72036593d85518" kindref="member">update_dynamic</ref>(self,<sp/>raw_steer,<sp/>vel):</highlight></codeline>
 <codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;&quot;&quot;</highlight></codeline>
 <codeline lineno="235"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Steps<sp/>the<sp/>vehicle&apos;s<sp/>physical<sp/>simulation</highlight></codeline>
 <codeline lineno="236"><highlight class="stringliteral"></highlight></codeline>
@@ -313,7 +313,7 @@
 <codeline lineno="301"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">def<sp/></highlight><highlight class="normal"><ref refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1a356ec05a0a0c056f4d43f5fb0451c83d" kindref="member">update_scan</ref>(self):</highlight></codeline>
 <codeline lineno="302"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;&quot;&quot;</highlight></codeline>
 <codeline lineno="303"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Steps<sp/>the<sp/>vehicle&apos;s<sp/>laser<sp/>scan<sp/>simulation</highlight></codeline>
-<codeline lineno="304"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Separated<sp/>from<sp/>update_pose<sp/>because<sp/>needs<sp/>to<sp/>update<sp/>scan<sp/>based<sp/>on<sp/>NEW<sp/>poses<sp/>of<sp/>agents<sp/>in<sp/>the<sp/>environment</highlight></codeline>
+<codeline lineno="304"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Separated<sp/>from<sp/>update_dynamic<sp/>because<sp/>needs<sp/>to<sp/>update<sp/>scan<sp/>based<sp/>on<sp/>NEW<sp/>poses<sp/>of<sp/>agents<sp/>in<sp/>the<sp/>environment</highlight></codeline>
 <codeline lineno="305"><highlight class="stringliteral"></highlight></codeline>
 <codeline lineno="306"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Args:</highlight></codeline>
 <codeline lineno="307"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>None</highlight></codeline>
@@ -443,7 +443,7 @@
 <codeline lineno="431"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">#<sp/>looping<sp/>over<sp/>agents</highlight><highlight class="normal"></highlight></codeline>
 <codeline lineno="432"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i,<sp/>agent<sp/></highlight><highlight class="keywordflow">in</highlight><highlight class="normal"><sp/>enumerate(self.<ref refid="classf110__gym_1_1envs_1_1base__classes_1_1_simulator_1ae665b35ec7d9ced7de789a02cafdd566" kindref="member">agents</ref>):</highlight></codeline>
 <codeline lineno="433"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">#<sp/>update<sp/>each<sp/>agent&apos;s<sp/>pose</highlight><highlight class="normal"></highlight></codeline>
-<codeline lineno="434"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>agent.update_pose(control_inputs[i,<sp/>0],<sp/>control_inputs[i,<sp/>1])</highlight></codeline>
+<codeline lineno="434"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>agent.update_dynamic(control_inputs[i,<sp/>0],<sp/>control_inputs[i,<sp/>1])</highlight></codeline>
 <codeline lineno="435"><highlight class="normal"></highlight></codeline>
 <codeline lineno="436"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">#<sp/>update<sp/>sim&apos;s<sp/>information<sp/>of<sp/>agent<sp/>poses</highlight><highlight class="normal"></highlight></codeline>
 <codeline lineno="437"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>self.<ref refid="classf110__gym_1_1envs_1_1base__classes_1_1_simulator_1ade120757dde31d2130e4b0f9b01e3a7d" kindref="member">agent_poses</ref>[i,<sp/>:]<sp/>=<sp/>np.append(agent.state[0:2],<sp/>agent.state[4])</highlight></codeline>

docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml

@@ -442,9 +442,9 @@ Returns:
       </memberdef>
       <memberdef kind="function" id="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1ae12c14c1353e6aab2f72036593d85518" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
         <type>def</type>
-        <definition>def f110_gym.envs.base_classes.RaceCar.update_pose</definition>
+        <definition>def f110_gym.envs.base_classes.RaceCar.update_dynamic</definition>
         <argsstring>(self, raw_steer, vel)</argsstring>
-        <name>update_pose</name>
+        <name>update_dynamic</name>
         <param>
           <type>self</type>
           <defname>self</defname>
@@ -516,7 +516,7 @@ Returns:
         </briefdescription>
         <detaileddescription>
 <para><verbatim>Steps the vehicle&apos;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:
       <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1a5eb8a1fa8d27dfccd008573e2d720c44" prot="public" virt="non-virtual"><scope>f110_gym::envs::base_classes::RaceCar</scope><name>ttc_thresh</name></member>
       <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1a4800c5ac90ba93b79a0338e5e34ead43" prot="public" virt="non-virtual"><scope>f110_gym::envs::base_classes::RaceCar</scope><name>update_opp_poses</name></member>
       <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1a6ab5b5dd420b182b5156ee9566c03411" prot="public" virt="non-virtual"><scope>f110_gym::envs::base_classes::RaceCar</scope><name>update_params</name></member>
-      <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1ae12c14c1353e6aab2f72036593d85518" prot="public" virt="non-virtual"><scope>f110_gym::envs::base_classes::RaceCar</scope><name>update_pose</name></member>
+      <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1ae12c14c1353e6aab2f72036593d85518" prot="public" virt="non-virtual"><scope>f110_gym::envs::base_classes::RaceCar</scope><name>update_dynamic</name></member>
       <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1a356ec05a0a0c056f4d43f5fb0451c83d" prot="public" virt="non-virtual"><scope>f110_gym::envs::base_classes::RaceCar</scope><name>update_scan</name></member>
     </listofallmembers>
   </compounddef>

docs/xml/index.xml

@@ -254,7 +254,7 @@
     <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1a0fa587dc3c1a12c9217f0bd093c1bc08" kind="function"><name>reset</name></member>
     <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1a7d15e74a1b82646675d60ce02cdce6b5" kind="function"><name>ray_cast_agents</name></member>
     <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1a4577a30fd8879de7df1d0ace7702f450" kind="function"><name>check_ttc</name></member>
-    <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1ae12c14c1353e6aab2f72036593d85518" kind="function"><name>update_pose</name></member>
+    <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1ae12c14c1353e6aab2f72036593d85518" kind="function"><name>update_dynamic</name></member>
     <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1a4800c5ac90ba93b79a0338e5e34ead43" kind="function"><name>update_opp_poses</name></member>
     <member refid="classf110__gym_1_1envs_1_1base__classes_1_1_race_car_1a356ec05a0a0c056f4d43f5fb0451c83d" kind="function"><name>update_scan</name></member>
   </compound>

examples/run_in_empty_track.py

@@ -25,8 +25,9 @@ def main():
             "map": track,
             "num_agents": 1,
             "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)
 
@@ -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)

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
 
 
@@ -23,15 +24,19 @@ 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",
     )
     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 +55,7 @@ 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(