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Farama-Foundation · Apr 6, 2024 · 7795f6a · 7795f6a
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diff --git a/main/_images/index_1_1.png b/main/_images/index_1_1.png
diff --git a/main/_images/index_2_1.png b/main/_images/index_2_1.png
diff --git a/main/_images/index_2_2.png b/main/_images/index_2_2.png
diff --git a/main/_images/index_2_3.png b/main/_images/index_2_3.png
diff --git a/main/_images/index_3_1.png b/main/_images/index_3_1.png
diff --git a/main/_images/multi_agent_0_1.png b/main/_images/multi_agent_0_1.png
diff --git a/main/_images/multi_agent_1_1.png b/main/_images/multi_agent_1_1.png
diff --git a/main/_images/quickstart_0_3.png b/main/_images/quickstart_0_3.png
diff --git a/main/_images/quickstart_2_0.png b/main/_images/quickstart_2_0.png
diff --git a/main/_modules/highway_env/envs/racetrack_env/index.html b/main/_modules/highway_env/envs/racetrack_env/index.html
@@ -677,34 +677,35 @@ <h1>Source code for highway_env.envs.racetrack_env</h1><div class="highlight"><p
             <span class="bp">self</span><span class="o">.</span><span class="n">controlled_vehicles</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">controlled_vehicle</span><span class="p">)</span>
             <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">vehicles</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">controlled_vehicle</span><span class="p">)</span>
 
-        <span class="c1"># Front vehicle</span>
-        <span class="n">vehicle</span> <span class="o">=</span> <span class="n">IDMVehicle</span><span class="o">.</span><span class="n">make_on_lane</span><span class="p">(</span>
-            <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="p">,</span>
-            <span class="p">(</span><span class="s2">&quot;b&quot;</span><span class="p">,</span> <span class="s2">&quot;c&quot;</span><span class="p">,</span> <span class="n">lane_index</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]),</span>
-            <span class="n">longitudinal</span><span class="o">=</span><span class="n">rng</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span>
-                <span class="n">low</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">high</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">network</span><span class="o">.</span><span class="n">get_lane</span><span class="p">((</span><span class="s2">&quot;b&quot;</span><span class="p">,</span> <span class="s2">&quot;c&quot;</span><span class="p">,</span> <span class="mi">0</span><span class="p">))</span><span class="o">.</span><span class="n">length</span>
-            <span class="p">),</span>
-            <span class="n">speed</span><span class="o">=</span><span class="mi">6</span> <span class="o">+</span> <span class="n">rng</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span><span class="n">high</span><span class="o">=</span><span class="mi">3</span><span class="p">),</span>
-        <span class="p">)</span>
-        <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">vehicles</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">vehicle</span><span class="p">)</span>
-
-        <span class="c1"># Other vehicles</span>
-        <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">rng</span><span class="o">.</span><span class="n">integers</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">config</span><span class="p">[</span><span class="s2">&quot;other_vehicles&quot;</span><span class="p">])):</span>
-            <span class="n">random_lane_index</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">network</span><span class="o">.</span><span class="n">random_lane_index</span><span class="p">(</span><span class="n">rng</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">config</span><span class="p">[</span><span class="s2">&quot;other_vehicles&quot;</span><span class="p">]</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># Front vehicle</span>
             <span class="n">vehicle</span> <span class="o">=</span> <span class="n">IDMVehicle</span><span class="o">.</span><span class="n">make_on_lane</span><span class="p">(</span>
                 <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="p">,</span>
-                <span class="n">random_lane_index</span><span class="p">,</span>
+                <span class="p">(</span><span class="s2">&quot;b&quot;</span><span class="p">,</span> <span class="s2">&quot;c&quot;</span><span class="p">,</span> <span class="n">lane_index</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]),</span>
                 <span class="n">longitudinal</span><span class="o">=</span><span class="n">rng</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span>
-                    <span class="n">low</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">high</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">network</span><span class="o">.</span><span class="n">get_lane</span><span class="p">(</span><span class="n">random_lane_index</span><span class="p">)</span><span class="o">.</span><span class="n">length</span>
+                    <span class="n">low</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">high</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">network</span><span class="o">.</span><span class="n">get_lane</span><span class="p">((</span><span class="s2">&quot;b&quot;</span><span class="p">,</span> <span class="s2">&quot;c&quot;</span><span class="p">,</span> <span class="mi">0</span><span class="p">))</span><span class="o">.</span><span class="n">length</span>
                 <span class="p">),</span>
                 <span class="n">speed</span><span class="o">=</span><span class="mi">6</span> <span class="o">+</span> <span class="n">rng</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span><span class="n">high</span><span class="o">=</span><span class="mi">3</span><span class="p">),</span>
             <span class="p">)</span>
-            <span class="c1"># Prevent early collisions</span>
-            <span class="k">for</span> <span class="n">v</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">vehicles</span><span class="p">:</span>
-                <span class="k">if</span> <span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">vehicle</span><span class="o">.</span><span class="n">position</span> <span class="o">-</span> <span class="n">v</span><span class="o">.</span><span class="n">position</span><span class="p">)</span> <span class="o">&lt;</span> <span class="mi">20</span><span class="p">:</span>
-                    <span class="k">break</span>
-            <span class="k">else</span><span class="p">:</span>
-                <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">vehicles</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">vehicle</span><span class="p">)</span></div>
+            <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">vehicles</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">vehicle</span><span class="p">)</span>
+
+            <span class="c1"># Other vehicles</span>
+            <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">rng</span><span class="o">.</span><span class="n">integers</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">config</span><span class="p">[</span><span class="s2">&quot;other_vehicles&quot;</span><span class="p">])):</span>
+                <span class="n">random_lane_index</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">network</span><span class="o">.</span><span class="n">random_lane_index</span><span class="p">(</span><span class="n">rng</span><span class="p">)</span>
+                <span class="n">vehicle</span> <span class="o">=</span> <span class="n">IDMVehicle</span><span class="o">.</span><span class="n">make_on_lane</span><span class="p">(</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="p">,</span>
+                    <span class="n">random_lane_index</span><span class="p">,</span>
+                    <span class="n">longitudinal</span><span class="o">=</span><span class="n">rng</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span>
+                        <span class="n">low</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">high</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">network</span><span class="o">.</span><span class="n">get_lane</span><span class="p">(</span><span class="n">random_lane_index</span><span class="p">)</span><span class="o">.</span><span class="n">length</span>
+                    <span class="p">),</span>
+                    <span class="n">speed</span><span class="o">=</span><span class="mi">6</span> <span class="o">+</span> <span class="n">rng</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span><span class="n">high</span><span class="o">=</span><span class="mi">3</span><span class="p">),</span>
+                <span class="p">)</span>
+                <span class="c1"># Prevent early collisions</span>
+                <span class="k">for</span> <span class="n">v</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">vehicles</span><span class="p">:</span>
+                    <span class="k">if</span> <span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">vehicle</span><span class="o">.</span><span class="n">position</span> <span class="o">-</span> <span class="n">v</span><span class="o">.</span><span class="n">position</span><span class="p">)</span> <span class="o">&lt;</span> <span class="mi">20</span><span class="p">:</span>
+                        <span class="k">break</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">road</span><span class="o">.</span><span class="n">vehicles</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">vehicle</span><span class="p">)</span></div>
 
 </pre></div>
           </article>

diff --git a/main/observations/index.html b/main/observations/index.html
@@ -557,25 +557,25 @@ <h3>Example configuration<a class="headerlink" href="#example-configuration" tit
 </div>
 </div>
 <div class="cell_output docutils container">
-<div class="output stream highlight-none notranslate"><div class="highlight"><pre><span></span>[[ 1.          1.          0.08        1.          0.          1.
+<div class="output stream highlight-none notranslate"><div class="highlight"><pre><span></span>[[ 1.          1.          0.04        1.          0.          1.
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    0.        ]
- [ 1.          0.6103085  -0.08       -0.12390206  0.          1.
+ [ 1.          0.59356433 -0.04       -0.0633202   0.          1.
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+ [ 1.          1.          0.         -0.18428127  0.          1.
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- [ 1.          1.         -0.04       -0.08556313  0.          1.
+ [ 1.          1.         -0.04       -0.12937759  0.          1.
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- [ 1.          1.          0.04       -0.14333436  0.          1.
+ [ 1.          1.          0.04       -0.14779031  0.          1.
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diff --git a/main/searchindex.js b/main/searchindex.js