Merge pull request #100 from f1tenth/dev_dynamics_updates

Pull recent changes and merging.

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",
 )

gym/f110_gym/envs/base_classes.py

@@ -26,6 +26,7 @@
 Replacement of the old RaceCar, Simulator classes in C++
 Author: Hongrui Zheng
 """
+from __future__ import annotations
 import numpy as np
 from f110_gym.envs.dynamic_models import DynamicModel
 from f110_gym.envs.action import CarAction
@@ -407,7 +408,7 @@ def __init__(
         self.params = params
         self.agent_poses = np.empty((self.num_agents, 3))
         self.agent_steerings = np.empty((self.num_agents,))
-        self.agents = []
+        self.agents: list[RaceCar] = []
         self.collisions = np.zeros((self.num_agents,))
         self.collision_idx = -1 * np.ones((self.num_agents,))
         self.model = model
@@ -512,7 +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)
 

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):