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INSTALLATION

  • Installation
    • Using uv
    • Documentation
    • Docker
    • Map cache

USAGE

  • Basic Usage
    • Reset and Step
    • Multi-Agent Actions
    • Batched Rollouts
    • Example Scripts and Notebooks
  • Environment Configuration
    • Environment IDs
    • ID Fields
    • Actions and Bounds
    • Keyword Overrides
    • Observation Layout
    • Maps and Cache
  • Visualization
    • Generate a Dashboard
    • Open or Host the Dashboard
    • Render From Python
    • Artifact Overlays
    • Real-Time Playback

MODEL REFERENCE

  • Dynamics
    • Notation
    • Control Constraints
    • Kinematic Single-Track Model
    • Dynamic Single-Track Model
    • Low-Speed Branch
    • Integration
    • Reward Terms

REPRODUCIBILITY

  • Reproducing experiments when using the environment

API REFERENCE

  • API Reference
    • Registration
      • make()
      • list_available_maps()
    • F110 Environment
      • F110Env
        • F110Env.step_env()
        • F110Env.reset()
        • F110Env.get_obs()
        • F110Env.get_avail_actions()
        • F110Env.agent_classes
        • F110Env.check_done()
        • F110Env.get_reward()
    • Multi-Agent Base
      • State
        • State.done
        • State.step
        • State.replace()
      • MultiAgentEnv
        • MultiAgentEnv.reset()
        • MultiAgentEnv.step()
        • MultiAgentEnv.step_env()
        • MultiAgentEnv.get_obs()
        • MultiAgentEnv.observation_space()
        • MultiAgentEnv.action_space()
        • MultiAgentEnv.get_avail_actions()
        • MultiAgentEnv.name
        • MultiAgentEnv.agent_classes
    • Spaces
      • Space
        • Space.sample()
        • Space.contains()
      • Discrete
        • Discrete.sample()
        • Discrete.contains()
      • MultiDiscrete
        • MultiDiscrete.sample()
        • MultiDiscrete.contains()
      • Box
        • Box.sample()
        • Box.contains()
      • Dict
        • Dict.sample()
        • Dict.contains()
      • Tuple
        • Tuple.sample()
        • Tuple.contains()
    • Environment Utilities
      • State
        • State.rewards
        • State.done
        • State.step
        • State.cartesian_states
        • State.last_cartesian_states
        • State.frenet_states
        • State.last_frenet_states
        • State.collisions
        • State.num_laps
        • State.scans
        • State.prev_winding_vector
        • State.last_accumulated_angles
        • State.accumulated_angles
        • State.replace()
      • LogEnvState
        • LogEnvState.env_state
        • LogEnvState.episode_returns
        • LogEnvState.episode_lengths
        • LogEnvState.returned_episode_returns
        • LogEnvState.returned_episode_lengths
        • LogEnvState.replace()
      • Param
        • Param.mu
        • Param.C_Sf
        • Param.C_Sr
        • Param.lf
        • Param.lr
        • Param.h
        • Param.m
        • Param.I
        • Param.s_min
        • Param.s_max
        • Param.sv_min
        • Param.sv_max
        • Param.v_switch
        • Param.a_max
        • Param.v_min
        • Param.v_max
        • Param.width
        • Param.length
        • Param.timestep
        • Param.timestep_ratio
        • Param.longitudinal_action_type
        • Param.steering_action_type
        • Param.integrator
        • Param.model
        • Param.produce_scans
        • Param.collision_on
        • Param.theta_dis
        • Param.fov
        • Param.num_beams
        • Param.eps
        • Param.max_range
        • Param.observe_others
        • Param.map_name
        • Param.max_num_laps
        • Param.max_steps
        • Param.reward_type
        • Param.replace()
      • batchify()
      • unbatchify()
      • Wrapper
      • LogWrapper
        • LogWrapper.reset()
        • LogWrapper.step()
      • WorldStateWrapper
        • WorldStateWrapper.reset()
        • WorldStateWrapper.step()
        • WorldStateWrapper.world_state()
    • Integrators
      • integrate_rk4()
      • integrate_euler()
    • Dynamic Models
      • upper_accel_limit()
      • accl_constraints()
      • steering_constraint()
      • vehicle_dynamics_ks()
      • vehicle_dynamics_st_switching()
      • vehicle_dynamics_st_smooth()
      • sigmoid_interp()
      • pid_steer()
      • pid_accl()
    • Collision Models
      • sa()
      • collision()
      • collision_map()
      • get_trmtx()
      • get_vertices()
    • Track Utilities
      • Track
        • Track
      • Spline
        • nearest_point_on_trajectory_jax()
        • first_point_on_trajectory()
        • CubicSplineND
      • Map Lookup
        • get_map_search_dirs()
        • find_track_dir()
    • Rendering Engine
      • WebRenderer
        • WebRenderer.play_pause()
        • WebRenderer.render()
        • WebRenderer.close()
      • TrajRenderer
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© Copyright 2021, Hongrui Zheng, Matthew O'Kelly, Aman Sinha.

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