Fixed errors so tests run.

f1tenth_gym/envs/f110_env.py

@@ -27,25 +27,21 @@
 # gym imports
 import gymnasium as gym
 
-from .action import (CarAction,
-                                  from_single_to_multi_action_space)
-from .integrator import IntegratorType
-from .rendering import make_renderer
+# others
+import numpy as np
 
-from .track import Track
+from .action import CarAction, from_single_to_multi_action_space
 
 # base classes
-from .base_classes import Simulator, DynamicModel
+from .base_classes import DynamicModel, Simulator
+from .integrator import IntegratorType
 from .observation import observation_factory
+from .rendering import make_renderer
 from .reset import make_reset_fn
 from .track import Track
 from .utils import deep_update
 
 
-# others
-import numpy as np
-
-
 class F110Env(gym.Env):
     """
     OpenAI gym environment for F1TENTH
@@ -143,14 +139,14 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
             model=self.model,
             action_type=self.action_type,
         )
-        self.sim.set_map(self.map, config["scale"])
+        self.sim.set_map(self.map, self.config["scale"])
 
         if isinstance(self.map, Track):
             self.track = self.map
         else:
             self.track = Track.from_track_name(
                 self.map,
-                track_scale=config["scale"],
+                track_scale=self.config["scale"],
             )  # load track in gym env for convenience
 
         # observations
@@ -202,7 +198,6 @@ def fullscale_vehicle_params(cls) -> dict:
             "I": 1538.8533713561394,
             "width": 1.674,
             "length": 4.298,
-
             # steering constraints
             "s_min": -0.91,
             "s_max": 0.91,
@@ -212,25 +207,22 @@ def fullscale_vehicle_params(cls) -> dict:
             "kappa_dot_max": 0.4,
             # maximum curvature rate rate
             "kappa_dot_dot_max": 20,
-
             # Longitudinal constraints
             "v_switch": 4.755,
             "a_max": 11.5,
             "v_min": -13.9,
             "v_max": 45.8,
             # maximum longitudinal jerk [m/s^3]
-            "j_max": 10.0e+3,
+            "j_max": 10.0e3,
             # maximum longitudinal jerk change [m/s^4]
             "j_dot_max": 10.0e3,
-
             # Extra parameters (for future use in multibody simulation)
             # sprung mass [kg]  SMASS
             "m_s": 1094.542720290477,
             # unsprung mass front [kg]  UMASSF
             "m_uf": 65.67256321742863,
             # unsprung mass rear [kg]  UMASSR
             "m_ur": 65.67256321742863,
-
             # moments of inertia of sprung mass
             # moment of inertia for sprung mass in roll [kg m^2]  IXS
             "I_Phi_s": 244.04723069965206,
@@ -240,7 +232,6 @@ def fullscale_vehicle_params(cls) -> dict:
             "I_z": 1538.8533713561394,
             # moment of inertia cross product [kg m^2]  IXZ
             "I_xz_s": 0.0,
-
             # suspension parameters
             # suspension spring rate (front) [N/m]  KSF
             "K_sf": 21898.332429625985,
@@ -250,15 +241,13 @@ def fullscale_vehicle_params(cls) -> dict:
             "K_sr": 21898.332429625985,
             # suspension damping rate (rear) [N s/m]  KSDR
             "K_sdr": 1459.3902937206362,
-
             # geometric parameters
             # track width front [m]  TRWF
             "T_f": 1.389888,
             # track width rear [m]  TRWB
             "T_r": 1.423416,
             # lateral spring rate at compliant compliant pin joint between M_s and M_u [N/m]  KRAS
             "K_ras": 175186.65943700788,
-
             # auxiliary torsion roll stiffness per axle (normally negative) (front) [N m/rad]  KTSF
             "K_tsf": -12880.270509148304,
             # auxiliary torsion roll stiffness per axle (normally negative) (rear) [N m/rad]  KTSR
@@ -267,33 +256,27 @@ def fullscale_vehicle_params(cls) -> dict:
             "K_rad": 10215.732056044453,
             # vertical spring rate of tire [N/m]  KZT
             "K_zt": 189785.5477234252,
-
             # center of gravity height of total mass [m]  HCG (mainly required for conversion to other vehicle models)
             "h_cg": 0.5577840000000001,
             # height of roll axis above ground (front) [m]  HRAF
             "h_raf": 0.0,
             # height of roll axis above ground (rear) [m]  HRAR
             "h_rar": 0.0,
-
             # M_s center of gravity above ground [m]  HS
             "h_s": 0.59436,
-
             # moment of inertia for unsprung mass about x-axis (front) [kg m^2]  IXUF
             "I_uf": 32.53963075995361,
             # moment of inertia for unsprung mass about x-axis (rear) [kg m^2]  IXUR
             "I_ur": 32.53963075995361,
             # wheel inertia, from internet forum for 235/65 R 17 [kg m^2]
             "I_y_w": 1.7,
-
             # lateral compliance rate of tire, wheel, and suspension, per tire [m/N]  KLT
             "K_lt": 1.0278264878518764e-05,
             # effective wheel/tire radius  chosen as tire rolling radius RR  taken from ADAMS documentation [m]
             "R_w": 0.344,
-
             # split of brake and engine torque
             "T_sb": 0.76,
             "T_se": 1,
-
             # suspension parameters
             # [rad/m]  DF
             "D_f": -0.6233595800524934,
@@ -303,7 +286,6 @@ def fullscale_vehicle_params(cls) -> dict:
             "E_f": 0,
             # [needs conversion if nonzero]  ER
             "E_r": 0,
-
         }
         return params
 
@@ -369,7 +351,9 @@ def configure(self, config: dict) -> None:
 
             if hasattr(self, "action_space"):
                 # if some parameters changed, recompute action space
-                self.action_type = CarAction(self.config["control_input"], params=self.params)
+                self.action_type = CarAction(
+                    self.config["control_input"], params=self.params
+                )
                 self.action_space = from_single_to_multi_action_space(
                     self.action_type.space, self.num_agents
                 )

f1tenth_gym/envs/rendering/__init__.py

@@ -2,12 +2,12 @@
 from typing import Any, Optional
 
 from .renderer import RenderSpec, EnvRenderer
-from ..track import Track
+# from ..track import Track This is due to a circular import
 
 
 def make_renderer(
     params: dict[str, Any],
-    track: Track,
+    track: "Track",
     agent_ids: list[str],
     render_mode: Optional[str] = None,
     render_fps: Optional[int] = 100,
@@ -33,7 +33,7 @@ def make_renderer(
 
     if render_spec.render_type == "pygame":
         from .rendering_pygame import PygameEnvRenderer as EnvRenderer
-    elif render_spec.render_type == "pyqt6": 
+    elif render_spec.render_type == "pyqt6":
         from .rendering_pyqt import PyQtEnvRenderer as EnvRenderer
     else:
         raise ValueError(f"Unknown render type: {render_spec.render_type}")