Merge remote-tracking branch 'origin/v1.0.0' into dev_edt_asset

examples/random_trackgen.py

@@ -49,15 +49,17 @@ def main(args):
     outdir.mkdir(parents=True, exist_ok=True)
 
     for i in range(n_maps):
-        try:
-            print(f"[info] creating track {i}")
-            track, track_int, track_ext = create_track()
-            convert_track(track, track_int, track_ext, i, outdir)
-            print(f"[info] saved track {i} in {outdir}/")
-        except Exception as _:  # noqa: F841
-            print("[error] failed to create track. Retrying...")
-            continue
-        print()
+        while True:
+            try:
+                print(f"[info] creating track {i}")
+                track, track_int, track_ext = create_track()
+                convert_track(track, track_int, track_ext, i, outdir)
+                print(f"[info] saved track {i} in {outdir}/")
+                break
+            except Exception as _:  # noqa: F841
+                print("[error] failed to create track. Retrying...")
+                continue
+            print()
 
 
 def create_track():
@@ -250,7 +252,7 @@ def convert_track(track, track_int, track_ext, track_id, outdir):
         "--seed", type=int, default=123, help="The seed for the numpy rng"
     )
     parser.add_argument(
-        "--n_maps", type=int, default=3, help="Number of maps to create"
+        "--n-maps", type=int, default=3, help="Number of maps to create"
     )
     parser.add_argument(
         "--outdir", type=pathlib.Path, default="./maps", help="Out directory"

examples/run_in_empty_track.py

@@ -1,7 +1,7 @@
 import numpy as np
 
 from waypoint_follow import PurePursuitPlanner
-from f110_gym.envs.track import Track
+from f1tenth_gym.envs.track import Track
 import gymnasium as gym
 
 
@@ -20,7 +20,7 @@ def main():
 
     # env and planner
     env = gym.make(
-        "f110_gym:f110-v0",
+        "f1tenth_gym:f1tenth-v0",
         config={
             "map": track,
             "num_agents": 1,

examples/video_recording.py

@@ -15,7 +15,7 @@ def main():
     }
 
     env = gym.make(
-        "f110_gym:f110-v0",
+        "f1tenth_gym:f1tenth-v0,
         config={
             "map": "Spielberg",
             "num_agents": 1,

examples/waypoint_follow.py

@@ -293,7 +293,7 @@ def main():
 
     num_agents = 3
     env = gym.make(
-        "f110_gym:f110-v0",
+        "f1tenth_gym:f1tenth-v0",
         config={
             "map": "Spielberg",
             "num_agents": num_agents,

f1tenth_gym/__init__.py

@@ -0,0 +1,6 @@
+import gymnasium as gym
+
+gym.register(
+    id="f1tenth-v0",
+    entry_point="f1tenth_gym.envs:F110Env",
+)

gym/f110_gym/envs/action.py → f1tenth_gym/envs/action.py

@@ -5,7 +5,7 @@
 import warnings
 import gymnasium as gym
 import numpy as np
-from f110_gym.envs.dynamic_models import pid_steer, pid_accl
+from .dynamic_models import pid_steer, pid_accl
 
 
 class LongitudinalActionEnum(Enum):

gym/f110_gym/envs/base_classes.py → f1tenth_gym/envs/base_classes.py

@@ -28,12 +28,12 @@
 """
 from __future__ import annotations
 import numpy as np
-from f110_gym.envs.dynamic_models import DynamicModel
-from f110_gym.envs.action import CarAction
-from f110_gym.envs.collision_models import collision_multiple, get_vertices
-from f110_gym.envs.integrator import EulerIntegrator, IntegratorType
-from f110_gym.envs.laser_models import ScanSimulator2D, check_ttc_jit, ray_cast
-from f110_gym.envs.track import Track
+from .dynamic_models import DynamicModel
+from .action import CarAction
+from .collision_models import collision_multiple, get_vertices
+from .integrator import EulerIntegrator, IntegratorType
+from .laser_models import ScanSimulator2D, check_ttc_jit, ray_cast
+from .track import Track
 
 
 class RaceCar(object):

gym/f110_gym/envs/f110_env.py → f1tenth_gym/envs/f110_env.py

@@ -27,19 +27,19 @@
 # gym imports
 import gymnasium as gym
 
-from f110_gym.envs.action import (CarAction,
+from .action import (CarAction,
                                   from_single_to_multi_action_space)
-from f110_gym.envs.integrator import IntegratorType
-from f110_gym.envs.rendering import make_renderer
+from .integrator import IntegratorType
+from .rendering import make_renderer
 
-from f110_gym.envs.track import Track
+from .track import Track
 
 # base classes
-from f110_gym.envs.base_classes import Simulator, DynamicModel
-from f110_gym.envs.observation import observation_factory
-from f110_gym.envs.reset import make_reset_fn
-from f110_gym.envs.track import Track
-from f110_gym.envs.utils import deep_update
+from .base_classes import Simulator, DynamicModel
+from .observation import observation_factory
+from .reset import make_reset_fn
+from .track import Track
+from .utils import deep_update
 
 
 # others

gym/f110_gym/envs/laser_models.py → f1tenth_gym/envs/laser_models.py

@@ -29,7 +29,7 @@
 import unittest
 
 import numpy as np
-from f110_gym.envs.track import Track
+from .track import Track
 from numba import njit
 from scipy.ndimage import distance_transform_edt as edt
 

gym/f110_gym/envs/rendering/__init__.py → f1tenth_gym/envs/rendering/__init__.py

@@ -1,8 +1,8 @@
 import pathlib
 from typing import Any, Optional
 
-from f110_gym.envs.rendering.renderer import RenderSpec, EnvRenderer
-from f110_gym.envs.track import Track
+from .renderer import RenderSpec, EnvRenderer
+from ..track import Track
 
 
 def make_renderer(
@@ -28,7 +28,7 @@ def make_renderer(
     render_fps : int, optional
         rendering frames per second, by default 100
     """
-    from f110_gym.envs.rendering.rendering_pygame import PygameEnvRenderer
+    from .rendering_pygame import PygameEnvRenderer
 
     cfg_file = pathlib.Path(__file__).parent.absolute() / "rendering.yaml"
     render_spec = RenderSpec.from_yaml(cfg_file)

gym/f110_gym/envs/rendering/objects.py → f1tenth_gym/envs/rendering/objects.py

@@ -3,8 +3,8 @@
 import numpy as np
 import pygame
 
-from f110_gym.envs.collision_models import get_vertices
-from f110_gym.envs.rendering import RenderSpec
+from ..collision_models import get_vertices
+from . import RenderSpec
 
 
 class TextObject:

gym/f110_gym/envs/rendering/rendering_pygame.py → f1tenth_gym/envs/rendering/rendering_pygame.py

@@ -8,13 +8,13 @@
 import pygame
 from PIL import ImageColor
 
-from f110_gym.envs.rendering.objects import (
+from .objects import (
     Map,
     Car,
     TextObject,
 )
-from f110_gym.envs.track import Track
-from f110_gym.envs.rendering.renderer import EnvRenderer, RenderSpec
+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"

gym/f110_gym/envs/reset/__init__.py → f1tenth_gym/envs/reset/__init__.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
-from f110_gym.envs.reset.masked_reset import GridResetFn, AllTrackResetFn
-from f110_gym.envs.reset.reset_fn import ResetFn
-from f110_gym.envs.track import Track
+from .masked_reset import GridResetFn, AllTrackResetFn
+from .reset_fn import ResetFn
+from ..track import Track
 
 
 def make_reset_fn(type: str | None, track: Track, num_agents: int, **kwargs) -> ResetFn:

gym/f110_gym/envs/reset/masked_reset.py → f1tenth_gym/envs/reset/masked_reset.py

@@ -2,9 +2,9 @@
 
 import numpy as np
 
-from f110_gym.envs.reset.reset_fn import ResetFn
-from f110_gym.envs.reset.utils import sample_around_waypoint
-from f110_gym.envs.track import Track, Raceline
+from .reset_fn import ResetFn
+from .utils import sample_around_waypoint
+from ..track import Track, Raceline
 
 
 class MaskedResetFn(ResetFn):

gym/f110_gym/envs/reset/utils.py → f1tenth_gym/envs/reset/utils.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-from f110_gym.envs.track import Raceline
+from ..track import Raceline
 
 
 def sample_around_waypoint(

gym/f110_gym/envs/track/raceline.py → f1tenth_gym/envs/track/raceline.py

@@ -4,8 +4,8 @@
 
 import numpy as np
 
-from f110_gym.envs.rendering import EnvRenderer
-from f110_gym.envs.track.cubic_spline import CubicSpline2D
+from ..rendering import EnvRenderer
+from .cubic_spline import CubicSpline2D
 
 
 class Raceline:

gym/f110_gym/envs/track/track.py → f1tenth_gym/envs/track/track.py

@@ -10,9 +10,9 @@
 from PIL.Image import Transpose
 from yamldataclassconfig.config import YamlDataClassConfig
 
-from f110_gym.envs.track import Raceline
-from f110_gym.envs.track.cubic_spline import CubicSpline2D
-from f110_gym.envs.track.utils import find_track_dir
+from . import Raceline
+from .cubic_spline import CubicSpline2D
+from .utils import find_track_dir
 
 
 @dataclass