Add qt as dependency. Fix render_points

examples/waypoint_follow.py

@@ -208,7 +208,7 @@ def render_lookahead_point(self, e):
             if self.lookahead_point_render is None:
                 self.lookahead_point_render = e.render_points(points, color=(0, 0, 128), size=2)
             else:
-                self.lookahead_point_render.updateItems(points)
+                self.lookahead_point_render.setData(points)
 
     def render_local_plan(self, e):
         """
@@ -219,7 +219,7 @@ def render_local_plan(self, e):
             if self.local_plan_render is None:
                 self.local_plan_render = e.render_lines(points, color=(0, 128, 0), size=1)
             else:
-                self.local_plan_render.updateItems(points)
+                self.local_plan_render.setData(points)
 
     def _get_current_waypoint(
         self, waypoints, lookahead_distance, position, theta

f1tenth_gym/envs/rendering/rendering_pyqt.py

@@ -314,7 +314,7 @@ def render_points(
         points: list | np.ndarray,
         color: Optional[tuple[int, int, int]] = (0, 0, 255),
         size: Optional[int] = 1,
-    ) -> None:
+    ) -> pg.PlotDataItem:
         """
         Render a sequence of xy points on screen.
 
@@ -327,10 +327,9 @@ def render_points(
         size : Optional[int], optional
             size of the points in pixels, by default 1
         """
-        origin = self.map_origin
-        resolution = self.map_resolution
-        points = ((points - origin[:2]) / resolution).astype(int)
-        size = math.ceil(size)
+        return self.canvas.plot(
+            points[:, 0], points[:, 1], pen=None, symbol="o", symbolPen=pg.mkPen(color=color, width=0), symbolBrush=pg.mkBrush(color=color, width=0), symbolSize=size
+        )
 
     def render_lines(
         self,

pyproject.toml

@@ -45,6 +45,8 @@ opencv-python = "^4.9.0.80"
 yamldataclassconfig = "^1.5.0"
 requests = "^2.31.0"
 shapely = "^2.0.2"
+pyqtgraph = "^0.13.7"
+PyQT6 = "^6.7.1"
 
 [tool.poetry.group.dev.dependencies]
 pytest = "^7.4.4"