update tests to use Spielberg as default test map.

remove test on old maps (eg., Skirk, Vegas).
linting.

tests/legacy_scan_gen.py

@@ -1,4 +1,3 @@
-
 import numpy as np
 
 import gymnasium as gym

tests/test_collision_checks.py

@@ -82,4 +82,3 @@ def test_fps(self):
         fps = 1000 / elapsed
         print("gjk fps:", fps)
         # self.assertGreater(fps, 500)  This is a platform dependent test, not ideal.
-

tests/test_dynamics.py

@@ -23,7 +23,12 @@
 import unittest
 
 import numpy as np
-from f110_gym.envs.dynamic_models import vehicle_dynamics_ks, vehicle_dynamics_st, func_KS, func_ST
+from f110_gym.envs.dynamic_models import (
+    vehicle_dynamics_ks,
+    vehicle_dynamics_st,
+    func_KS,
+    func_ST,
+)
 
 
 class DynamicsTest(unittest.TestCase):

tests/test_f110_env.py

@@ -7,7 +7,6 @@
 
 class TestEnvInterface(unittest.TestCase):
     def _make_env(self, config={}):
-
         conf = {
             "map": "Spielberg",
             "num_agents": 1,
@@ -18,7 +17,10 @@ def _make_env(self, config={}):
         }
         conf = deep_update(conf, config)
 
-        env = gym.make("f110_gym:f110-v0", config=conf,)
+        env = gym.make(
+            "f110_gym:f110-v0",
+            config=conf,
+        )
         return env
 
     def test_gymnasium_api(self):

tests/test_observation.py

@@ -11,7 +11,6 @@
 class TestObservationInterface(unittest.TestCase):
     @staticmethod
     def _make_env(config={}) -> F110Env:
-
         conf = {
             "map": "Spielberg",
             "num_agents": 1,
@@ -228,5 +227,7 @@ def test_gymnasium_api(self):
         for obs_type_id in obs_type_ids:
             env = self._make_env(config={"observation_config": {"type": obs_type_id}})
             check_env(
-                env.unwrapped, f"Observation {obs_type_id} breaks the gymnasium API", skip_render_check=True
+                env.unwrapped,
+                f"Observation {obs_type_id} breaks the gymnasium API",
+                skip_render_check=True,
             )

tests/test_scan_sim.py

@@ -46,7 +46,6 @@ def setUp(self):
         wdir = os.path.dirname(os.path.abspath(__file__))
         self.sample_scans = np.load(f"{wdir}/legacy_scan.npz")
 
-
     def _test_map_scan(self, map_name: str, debug=False):
         scan_rng = np.random.default_rng(seed=12345)
         scan_sim = ScanSimulator2D(self.num_beams, self.fov)

tests/test_track.py

@@ -7,18 +7,12 @@
 
 
 class TestTrack(unittest.TestCase):
-    def test_loading_default_tracks(self):
-        track_names = ["Berlin", "Example", "Levine", "Skirk", "StataBasement", "Vegas"]
-        for track_name in track_names:
-            track = Track.from_track_name(track_name)
-            self.assertEqual(track.spec.name, track_name)
-
     def test_error_handling(self):
         wrong_track_name = "i_dont_exists"
         self.assertRaises(FileNotFoundError, Track.from_track_name, wrong_track_name)
 
     def test_raceline(self):
-        track_name = "Example"  # Example is the only track with a raceline for now
+        track_name = "Spielberg"
         track = Track.from_track_name(track_name)
 
         # check raceline is not None
@@ -39,11 +33,6 @@ def test_raceline(self):
         self.assertTrue(np.isclose(track.raceline.vxs, raceline[:, vx_idx]).all())
         self.assertTrue(np.isclose(track.raceline.axs, raceline[:, ax_idx]).all())
 
-    def test_missing_raceline(self):
-        track = Track.from_track_name("Vegas")
-        self.assertEqual(track.raceline, None)
-        self.assertEqual(track.centerline, None)
-
     def test_map_dir_structure(self):
         """
         Check that the map dir structure is correct: