The F1TENTH Gym environment

This is the repository of the F1TENTH Gym environment.

This project is still under heavy developement.

You can find the documentation of the environment here.

Quickstart

We recommend installing the simulation inside a virtualenv. You can install the environment by running:

virtualenv gym_env
source gym_env/bin/activate
git clone https://github.com/f1tenth/f1tenth_gym.git
cd f1tenth_gym
pip install -e .

Then you can run a quick waypoint follow example by:

cd examples
python3 waypoint_follow.py

A Dockerfile is also provided with support for the GUI with nvidia-docker (nvidia GPU required):

docker build -t f1tenth_gym_container -f Dockerfile .
docker run --gpus all -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix f1tenth_gym_container

Then the same example can be ran.

Known issues

• Library support issues on Windows. You must use Python 3.8 as of 10-2021
• On MacOS Big Sur and above, when rendering is turned on, you might encounter the error:

ImportError: Can't find framework /System/Library/Frameworks/OpenGL.framework.

You can fix the error by installing a newer version of pyglet:

$ pip3 install pyglet==1.5.11

And you might see an error similar to

gym 0.17.3 requires pyglet<=1.5.0,>=1.4.0, but you'll have pyglet 1.5.11 which is incompatible.

which could be ignored. The environment should still work without error.

Citing

If you find this Gym environment useful, please consider citing:

@inproceedings{okelly2020f1tenth,
  title={F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning},
  author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul},
  booktitle={NeurIPS 2019 Competition and Demonstration Track},
  pages={77--89},
  year={2020},
  organization={PMLR}
}