black

gym/f110_gym/envs/f110_env.py

@@ -178,7 +178,9 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         # stateful observations for rendering
         self.render_obs = None
         self.render_mode = render_mode
-        self.renderer, self.render_spec = make_renderer(track=self.track, agent_ids=self.agent_ids, render_mode=render_mode)
+        self.renderer, self.render_spec = make_renderer(
+            track=self.track, agent_ids=self.agent_ids, render_mode=render_mode
+        )
         self.metadata["render_fps"] = self.render_spec.render_fps
 
     def __del__(self):
@@ -470,4 +472,4 @@ def close(self):
         """
         if self.renderer is not None:
             self.renderer.close()
-        super().close()
+        super().close()

gym/f110_gym/envs/rendering/__init__.py

@@ -5,17 +5,30 @@
 from f110_gym.envs.track import Track
 
 
-def make_renderer(track: Track, agent_ids: List[str], render_mode: str = None) -> Tuple[EnvRenderer, RenderSpec]:
+def make_renderer(
+    track: Track, agent_ids: List[str], render_mode: str = None
+) -> Tuple[EnvRenderer, RenderSpec]:
     from f110_gym.envs.rendering.rendering_pygame import PygameEnvRenderer
+
     cfg_file = pathlib.Path(__file__).parent.absolute() / "rendering.yaml"
     render_spec = RenderSpec.from_yaml(cfg_file)
 
     if render_mode in ["human_fast"]:
         cfg_file = pathlib.Path(__file__).parent.absolute() / "rendering_fast.yaml"
         render_spec = RenderSpec.from_yaml(cfg_file)
-        renderer = PygameEnvRenderer(track=track, agent_ids=agent_ids, render_spec=render_spec, render_mode=render_mode)
+        renderer = PygameEnvRenderer(
+            track=track,
+            agent_ids=agent_ids,
+            render_spec=render_spec,
+            render_mode=render_mode,
+        )
     elif render_mode in ["human", "rgb_array"]:
-        renderer = PygameEnvRenderer(track=track, agent_ids=agent_ids, render_spec=render_spec, render_mode=render_mode)
+        renderer = PygameEnvRenderer(
+            track=track,
+            agent_ids=agent_ids,
+            render_spec=render_spec,
+            render_mode=render_mode,
+        )
     else:
         renderer = None
     return renderer, render_spec

gym/f110_gym/envs/rendering/rendering_pygame.py

@@ -54,7 +54,7 @@ def render(self, time: float, display: pygame.Surface):
 
 
 class Info:
-    def __init__(self, window_shape=(1000,1000)):
+    def __init__(self, window_shape=(1000, 1000)):
         font_size = int(32 * window_shape[0] / 1000)
         self.font = pygame.font.SysFont("Arial", font_size)
         self.text = self.font.render("", True, (125, 125, 125))
@@ -130,7 +130,6 @@ def render(self, display):
             front_right = (vertices[1] * lam + vertices[2] * (1 - lam)).astype(int)
             arrow_length = self.steering_arrow_len / self.resolution
 
-
             for mid_point in [front_left, front_right]:
                 end_point = mid_point + 0.5 * arrow_length * np.array(
                     [np.cos(self.steering_angle), np.sin(self.steering_angle)]
@@ -319,10 +318,10 @@ def render_points(
             pygame.draw.circle(self.map_canvas, color, point, size)
 
     def render_lines(
-            self,
-            points: Union[List, np.ndarray],
-            color: Tuple[int, int, int] = (0, 0, 255),
-            size: int = 1,
+        self,
+        points: Union[List, np.ndarray],
+        color: Tuple[int, int, int] = (0, 0, 255),
+        size: int = 1,
     ):
         """
         Render a sequence of lines segments.
@@ -337,7 +336,9 @@ def render_lines(
         points = ((points - origin[:2]) / resolution).astype(int)
         size = math.ceil(size / self.ppu)
 
-        pygame.draw.lines(self.map_canvas, color, closed=False, points=points, width=size)
+        pygame.draw.lines(
+            self.map_canvas, color, closed=False, points=points, width=size
+        )
 
     def render_closed_lines(
         self,
@@ -358,7 +359,9 @@ def render_closed_lines(
         points = ((points - origin[:2]) / resolution).astype(int)
         size = math.ceil(size / self.ppu)
 
-        pygame.draw.lines(self.map_canvas, color, closed=True, points=points, width=size)
+        pygame.draw.lines(
+            self.map_canvas, color, closed=True, points=points, width=size
+        )
 
     def close(self):
         if self.render_mode == "human" or self.render_mode == "human_fast":

gym/f110_gym/envs/rendering/rendering_pyglet.py

@@ -55,7 +55,6 @@ class PygletEnvRenderer(pyglet.window.Window, EnvRenderer):
     A window class inherited from pyglet.window.Window, handles the camera/projection interaction, resizing window, and rendering the environment
     """
 
-
     def __init__(self, track: Track, render_spec: RenderSpec):
         """
         Class constructor
@@ -69,9 +68,7 @@ def __init__(self, track: Track, render_spec: RenderSpec):
         """
         conf = Config(sample_buffers=1, samples=4, depth_size=16, double_buffer=True)
         width, height = render_spec.window_size, render_spec.window_size
-        super().__init__(
-            width, height, config=conf, resizable=True, vsync=False
-        )
+        super().__init__(width, height, config=conf, resizable=True, vsync=False)
 
         # gl init
         glClearColor(9 / 255, 32 / 255, 87 / 255, 1.0)
@@ -360,11 +357,11 @@ def update(self, state):
 
         self.score_label.text = (
             "Lap Time: {laptime:.2f}, Ego Lap Count: {count:.0f}".format(
-                laptime=state["lap_times"][0], count=state["lap_counts"][state["ego_idx"]]
+                laptime=state["lap_times"][0],
+                count=state["lap_counts"][state["ego_idx"]],
             )
         )
 
-
     def render_map(self):
         pass
 

gym/f110_gym/test/benchmark_renderer.py

@@ -36,8 +36,8 @@ def pretty_print(dict: dict, col_width=15):
         print("|" + "-" * col_width, end="")
     print("|")
 
-class BenchmarkRenderer:
 
+class BenchmarkRenderer:
     @staticmethod
     def _make_env(config={}, render_mode=None) -> F110Env:
         import gymnasium as gym
@@ -95,7 +95,6 @@ def benchmark_single_agent_rendering(self):
 
         pretty_print(results)
 
-
     def benchmark_n_agents_human_rendering(self):
         """
         This is meant to benchmark the human rendering mode, for increasing nr of agents.
@@ -135,7 +134,6 @@ def benchmark_n_agents_human_rendering(self):
 
         pretty_print(results)
 
-
     def benchmark_callbacks_human_rendering(self):
         import time
 
@@ -216,7 +214,7 @@ def render_position(self, e):
         pretty_print(results)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     benchmark = BenchmarkRenderer()
 
     benchmark.benchmark_single_agent_rendering()