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GETTING STARTED

  • Installation
    • Using pip (recommended)
    • Using poetry
    • Additional dependencies
  • Quickstart
    • Running examples
    • Environment basics
    • Simulation loop

USER GUIDE

  • Configuration
    • Default configurations
    • Vehicle model and control
    • Training mode
    • Track direction
    • Observation configuration
    • Collision and safety
    • Reward configuration
    • Reset options
    • Debugging and visualization
      • Control debug panel
      • Observation debug overlay
    • Custom maps
  • Training
    • Training scripts
    • Callbacks
    • Curriculum learning
    • Wandb integration
    • Formatting and linting
  • Architecture
    • Package structure
    • Important files
    • Key dependencies
  • Controllers
    • Pure Pursuit
    • Stanley and PD Controllers
    • MPC Controllers
  • Analysis
    • Tire parameters
    • Analysis scripts
  • Known Issues
    • Windows
    • macOS Big Sur and above

API REFERENCE

  • Gym Environment
    • Creating an environment
    • Vehicle parameter methods
    • Step and reset
    • API reference
      • GKEnv
        • GKEnv.metadata
        • GKEnv.fullscale_vehicle_params()
        • GKEnv.f1fifth_vehicle_params()
        • GKEnv.f1tenth_vehicle_params()
        • GKEnv.f1tenth_std_drift_bias_params()
        • GKEnv.f1tenth_std_vehicle_params()
        • GKEnv.default_config()
        • GKEnv.configure()
        • GKEnv.set_recovery_ranges()
        • GKEnv.step()
        • GKEnv.reset()
        • GKEnv.update_map()
        • GKEnv.update_params()
        • GKEnv.add_render_callback()
        • GKEnv.render()
        • GKEnv.close()
  • Base Classes
    • RaceCar
    • Simulator
    • API reference
      • RaceCar
        • RaceCar.params
        • RaceCar.is_ego
        • RaceCar.time_step
        • RaceCar.num_beams
        • RaceCar.fov
        • RaceCar.state
        • RaceCar.accel
        • RaceCar.steer_angle_vel
        • RaceCar.in_collision
        • RaceCar.scan_simulator
        • RaceCar.cosines
        • RaceCar.scan_angles
        • RaceCar.side_distances
        • RaceCar.update_params()
        • RaceCar.set_map()
        • RaceCar.reset()
        • RaceCar.ray_cast_agents()
        • RaceCar.check_ttc()
        • RaceCar.update_pose()
        • RaceCar.update_opp_poses()
        • RaceCar.update_scan()
        • RaceCar.standard_state
      • Simulator
        • Simulator.num_agents
        • Simulator.time_step
        • Simulator.agent_poses
        • Simulator.agents
        • Simulator.collisions
        • Simulator.collision_idx
        • Simulator.agents
        • Simulator.set_map()
        • Simulator.update_params()
        • Simulator.check_collision()
        • Simulator.step()
        • Simulator.reset()
  • Dynamic Models
    • KS — Kinematic Single Track
    • ST — Single Track
    • MB — Multi-Body
    • STD — Single Track Drift
    • Vehicle parameters
    • API reference
      • vehicle_dynamics_ks()
      • vehicle_dynamics_ks_cog()
      • get_standardized_state_ks()
      • vehicle_dynamics_st()
      • get_standardized_state_st()
      • vehicle_dynamics_mb()
      • get_standardized_state_mb()
      • vehicle_dynamics_std()
      • get_standardized_state_std()
  • Observation System
    • Observation types
    • Configuration
    • Lookahead observations
    • Normalization
    • API reference
      • sample_lookahead_curvatures()
      • sample_lookahead_curvatures_fast()
      • sample_lookahead_widths()
      • sample_lookahead_widths_fast()
      • Observation
        • Observation.space()
        • Observation.observe()
        • Observation.get_debug_features()
      • OriginalObservation
        • OriginalObservation.space()
        • OriginalObservation.observe()
        • OriginalObservation.get_debug_features()
      • FeaturesObservation
        • FeaturesObservation.space()
        • FeaturesObservation.observe()
        • FeaturesObservation.get_debug_features()
      • VectorObservation
        • VectorObservation.space()
        • VectorObservation.observe()
      • observation_factory()
  • Action System
    • Action space
    • Control input types
    • Configuration
    • Normalization
    • API reference
      • LongitudinalActionEnum
        • LongitudinalActionEnum.Accl
        • LongitudinalActionEnum.Speed
        • LongitudinalActionEnum.from_string()
        • LongitudinalActionEnum.is_valid()
      • LongitudinalAction
        • LongitudinalAction.normalize
        • LongitudinalAction.lower_limit
        • LongitudinalAction.upper_limit
        • LongitudinalAction.scale_factor
        • LongitudinalAction.act()
        • LongitudinalAction.type
        • LongitudinalAction.space
      • AcclAction
        • AcclAction.act()
      • SpeedAction
        • SpeedAction.act()
      • SteerAction
        • SteerAction.normalize
        • SteerAction.lower_limit
        • SteerAction.upper_limit
        • SteerAction.scale_factor
        • SteerAction.act()
        • SteerAction.type
        • SteerAction.space
      • SteeringAngleAction
        • SteeringAngleAction.act()
      • SteeringSpeedAction
        • SteeringSpeedAction.act()
      • SteerActionEnum
        • SteerActionEnum.Steering_Angle
        • SteerActionEnum.Steering_Speed
        • SteerActionEnum.from_string()
        • SteerActionEnum.is_valid()
      • CarAction
        • CarAction.normalize
        • CarAction.act()
        • CarAction.type
        • CarAction.steer_bounds
        • CarAction.throttle_bounds
        • CarAction.space
      • from_single_to_multi_action_space()
  • Track System
    • Track loading
    • Map management
    • Frenet coordinates
    • Centerline and raceline
    • API reference
      • TrackSpec
        • TrackSpec.name
        • TrackSpec.image
        • TrackSpec.resolution
        • TrackSpec.origin
        • TrackSpec.negate
        • TrackSpec.occupied_thresh
        • TrackSpec.free_thresh
      • Track
        • Track.spec
        • Track.filepath
        • Track.ext
        • Track.occupancy_map
        • Track.centerline
        • Track.raceline
        • Track.set_direction()
        • Track.load_spec()
        • Track.from_track_name()
        • Track.from_track_path()
        • Track.from_refline()
        • Track.frenet_to_cartesian()
        • Track.cartesian_to_frenet()
        • Track.render_centerline()
        • Track.render_raceline()
        • Track.render_both_lines()
        • Track.render_arc_length_annotations()
        • Track.render_frenet_projection()
        • Track.render_lookahead_curvatures()
      • Raceline
        • Raceline.n
        • Raceline.ss
        • Raceline.xs
        • Raceline.ys
        • Raceline.yaws
        • Raceline.ks
        • Raceline.vxs
        • Raceline.axs
        • Raceline.w_lefts
        • Raceline.w_rights
        • Raceline.length
        • Raceline.spline
        • Raceline.from_centerline_file()
        • Raceline.from_raceline_file()
        • Raceline.reversed()
        • Raceline.render_waypoints()

PROJECT

  • Changelog
    • Unreleased
    • 1.2.0 - 2026-04-11
      • Added
      • Fixed
      • Changed
      • Removed
    • 1.1.1 - 2026-03-15
      • Fixed
    • 1.1.0 - 2026-03-15
      • Added
      • Changed
      • Fixed
    • 1.0.0 - 2026-01-30
      • Added
      • Fixed
      • Changed
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© Copyright 2021-2026, Teodor Ilie, Hongrui Zheng, Matthew O'Kelly, Aman Sinha.

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