The F1TENTH Gym environment with Google Colab

This is the repository of the F1TENTH Gym environment with Google Colaboratory integration.

F1TENTH Gym with Reinforcement Learning implementation:

F1TENTH Gym basic integration with Colab:

This project is still under heavy developement.

You can find the documentation of the environment here.

Quickstart

You can install the environment by running:

Google Colab:

!git clone https://github.com/avantgarda/f1tenth_gym.git # cloning from avantgarda fork of the F1Tenth repo
%cd /content/f1tenth_gym
!git checkout colab # colab-compatible branch
%cd /content/f1tenth_gym/gym
!python setup.py install

Local machine:

$ git clone https://github.com/f1tenth/f1tenth_gym.git
$ cd f1tenth_gym
$ git checkout exp_py
$ pip3 install --user -e gym/

Then you can run a quick waypoint follow example by:

cd examples
python3 waypoint_follow.py

Known issues

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}
}