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f1tenth · Dec 26, 2023 · 9211767 · 9211767
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Showing 13 changed files with 110 additions and 68 deletions.
diff --git a/gym/f110_gym/__init__.py b/gym/f110_gym/__init__.py
@@ -1,5 +1,6 @@
 import gymnasium as gym
 
 gym.register(
-    id="f110-v0", entry_point="f110_gym.envs:F110Env",
+    id="f110-v0",
+    entry_point="f110_gym.envs:F110Env",
 )
diff --git a/gym/f110_gym/envs/base_classes.py b/gym/f110_gym/envs/base_classes.py
@@ -513,7 +513,7 @@ def step(self, control_inputs):
         for i, agent in enumerate(self.agents):
             # update agent's information on other agents
             opp_poses = np.concatenate(
-                (self.agent_poses[0:i, :], self.agent_poses[i + 1:, :]), axis=0
+                (self.agent_poses[0:i, :], self.agent_poses[i + 1 :, :]), axis=0
             )
             agent.update_opp_poses(opp_poses)
 

diff --git a/gym/f110_gym/envs/cubic_spline.py b/gym/f110_gym/envs/cubic_spline.py
@@ -64,7 +64,7 @@ def calc_position(self, x):
         i = self.__search_index(x)
         dx = x - self.x[i]
         position = (
-            self.a[i] + self.b[i] * dx + self.c[i] * dx ** 2.0 + self.d[i] * dx ** 3.0
+            self.a[i] + self.b[i] * dx + self.c[i] * dx**2.0 + self.d[i] * dx**3.0
         )
 
         return position
@@ -86,7 +86,7 @@ def calc_first_derivative(self, x):
 
         i = self.__search_index(x)
         dx = x - self.x[i]
-        dy = self.b[i] + 2.0 * self.c[i] * dx + 3.0 * self.d[i] * dx ** 2.0
+        dy = self.b[i] + 2.0 * self.c[i] * dx + 3.0 * self.d[i] * dx**2.0
         return dy
 
     def calc_second_derivative(self, x):
@@ -205,7 +205,7 @@ def calc_curvature(self, s):
         ddx = self.sx.calc_second_derivative(s)
         dy = self.sy.calc_first_derivative(s)
         ddy = self.sy.calc_second_derivative(s)
-        k = (ddy * dx - ddx * dy) / ((dx ** 2 + dy ** 2) ** (3 / 2))
+        k = (ddy * dx - ddx * dy) / ((dx**2 + dy**2) ** (3 / 2))
         return k
 
     def calc_yaw(self, s):

diff --git a/gym/f110_gym/envs/dynamic_models.py b/gym/f110_gym/envs/dynamic_models.py
@@ -96,7 +96,6 @@ def upper_accel_limit(vel, a_max, v_switch):
         pos_limit = a_max
 
     return pos_limit
-
 
 
 @njit(cache=True)
@@ -129,6 +128,7 @@ def accl_constraints(vel, a_long_d, v_switch, a_max, v_min, v_max):
 
     return a_long
 
+
 @njit(cache=True)
 def steering_constraint(
     steering_angle, steering_velocity, s_min, s_max, sv_min, sv_max
@@ -183,7 +183,7 @@ def vehicle_dynamics_ks(
     v_max,
 ):
     """
-    Single Track Kinematic Vehicle Dynamics. 
+    Single Track Kinematic Vehicle Dynamics.
     Follows https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 5
 
         Args:
@@ -242,11 +242,11 @@ def vehicle_dynamics_ks(
     # 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
+            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
@@ -318,7 +318,7 @@ def vehicle_dynamics_st(
     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))
+    # BETA = np.arctan2(np.sin(BETA), np.cos(BETA))
 
     # gravity constant m/s^2
     g = 9.81
@@ -338,40 +338,62 @@ def vehicle_dynamics_st(
     if V < 0.5:
         # wheelbase
         lwb = lf + lr
-        BETA_HAT = np.arctan(np.tan(DELTA) * lr /lwb)
-        BETA_DOT = (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
-        ])
+        BETA_HAT = np.arctan(np.tan(DELTA) * lr / lwb)
+        BETA_DOT = (
+            (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
+            ]
+        )
     else:
         # system dynamics
         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*(g*lr - ACCL*h)*DELTA + \
-                    (lr*C_Sr*(g*lf + ACCL*h) - lf*C_Sf*(g*lr - ACCL*h))*BETA - \
-                    (lf*lf*C_Sf*(g*lr - ACCL*h) + lr*lr*C_Sr*(g*lf + ACCL*h))*(PSI_DOT/V)
-                ),                      # PSI_DOT_DOT
-                (mu/(V*(lr+lf)))*(
-                    C_Sf*(g*lr - ACCL*h)*DELTA - \
-                    (C_Sr*(g*lf + ACCL*h) + C_Sf*(g*lr - ACCL*h))*BETA + \
-                    (C_Sr*(g*lf + ACCL*h)*lr - C_Sf*(g*lr - ACCL*h)*lf)*(PSI_DOT/V)
-                ) - PSI_DOT,            # BETA_DOT
+                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 * (g * lr - ACCL * h) * DELTA
+                    + (
+                        lr * C_Sr * (g * lf + ACCL * h)
+                        - lf * C_Sf * (g * lr - ACCL * h)
+                    )
+                    * BETA
+                    - (
+                        lf * lf * C_Sf * (g * lr - ACCL * h)
+                        + lr * lr * C_Sr * (g * lf + ACCL * h)
+                    )
+                    * (PSI_DOT / V)
+                ),  # PSI_DOT_DOT
+                (mu / (V * (lr + lf)))
+                * (
+                    C_Sf * (g * lr - ACCL * h) * DELTA
+                    - (C_Sr * (g * lf + ACCL * h) + C_Sf * (g * lr - ACCL * h)) * BETA
+                    + (
+                        C_Sr * (g * lf + ACCL * h) * lr
+                        - C_Sf * (g * lr - ACCL * h) * lf
+                    )
+                    * (PSI_DOT / V)
+                )
+                - PSI_DOT,  # BETA_DOT
             ]
         )
 

diff --git a/gym/f110_gym/envs/f110_env.py b/gym/f110_gym/envs/f110_env.py
@@ -169,13 +169,15 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         # match render_fps to integration timestep
         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.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"]
+            params=self.params,
+            track=self.track,
+            agent_ids=self.agent_ids,
+            render_mode=render_mode,
+            render_fps=self.metadata["render_fps"],
         )
 
-
     @classmethod
     def default_config(cls) -> dict:
         """
@@ -264,7 +266,7 @@ def _check_done(self):
         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
+        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]:

diff --git a/gym/f110_gym/envs/f110_env_backup.py b/gym/f110_gym/envs/f110_env_backup.py
@@ -31,9 +31,11 @@
 
 # others
 import numpy as np
+
 # protobuf import
 import sim_requests_pb2
 import yaml
+
 # zmq imports
 import zmq
 from PIL import Image
@@ -261,7 +263,7 @@ def _check_done(self):
             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
+            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]:
@@ -289,7 +291,7 @@ def _check_done(self):
             temp_y = -right_t - delta_pt[1]
         else:
             temp_y = 0
-        dist2 = delta_pt[0] ** 2 + temp_y ** 2
+        dist2 = delta_pt[0] ** 2 + temp_y**2
         close = dist2 <= 0.1
         # close = dist_to_start <= self.start_thresh
         if close and not self.near_start:

diff --git a/gym/f110_gym/test/benchmark_renderer.py b/gym/f110_gym/test/benchmark_renderer.py
@@ -55,7 +55,11 @@ def _make_env(config={}, render_mode=None) -> F110Env:
         }
         config = deep_update(base_config, config)
 
-        env = gym.make("f110_gym:f110-v0", config=config, render_mode=render_mode,)
+        env = gym.make(
+            "f110_gym:f110-v0",
+            config=config,
+            render_mode=render_mode,
+        )
 
         return env
 

diff --git a/gym/f110_gym/test/test_renderer.py b/gym/f110_gym/test/test_renderer.py
@@ -24,7 +24,11 @@ def _make_env(config={}, render_mode=None) -> F110Env:
         }
         config = deep_update(base_config, config)
 
-        env = gym.make("f110_gym:f110-v0", config=config, render_mode=render_mode,)
+        env = gym.make(
+            "f110_gym:f110-v0",
+            config=config,
+            render_mode=render_mode,
+        )
 
         return env
 

diff --git a/setup.py b/setup.py
@@ -22,14 +22,14 @@
         "opencv-python",
     ],
     extras_require={
-        'dev': [
-            'pytest',
-            'flake8',
-            'black',
-            'ipykernel',
-            'isort',
-            'autoflake',
-            'matplotlib'
+        "dev": [
+            "pytest",
+            "flake8",
+            "black",
+            "ipykernel",
+            "isort",
+            "autoflake",
+            "matplotlib",
         ]
-    }
+    },
 )
diff --git a/tests/test_collision_checks.py b/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.
-
diff --git a/tests/test_dynamics.py b/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):
@@ -560,4 +565,4 @@ def test_zeroinit_rollleft_singletrack(self):
 
 
 if __name__ == "__main__":
-    unittest.main()
+    unittest.main()
diff --git a/tests/test_f110_env.py b/tests/test_f110_env.py
@@ -7,7 +7,6 @@
 
 class TestEnvInterface(unittest.TestCase):
     def _make_env(self, config={}):
-
         conf = {
             "map": "Example",
             "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):

diff --git a/tests/test_observation.py b/tests/test_observation.py
@@ -11,7 +11,6 @@
 class TestObservationInterface(unittest.TestCase):
     @staticmethod
     def _make_env(config={}) -> F110Env:
-
         conf = {
             "map": "Example",
             "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,
             )
Original file line number	Diff line number	Diff line change
Expand Up		@@ -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.