diff --git a/examples/run_in_empty_track.py b/examples/run_in_empty_track.py
new file mode 100644
index 00000000..3c924e3e
--- /dev/null
+++ b/examples/run_in_empty_track.py
@@ -0,0 +1,59 @@
+import numpy as np
+
+from waypoint_follow import PurePursuitPlanner
+from f110_gym.envs.track import Track
+import gymnasium as gym
+
+
+def main():
+    """
+    Demonstrate the creation of an empty map with a custom reference line.
+    This is useful for testing and debugging control algorithms on standard maneuvers.
+    """
+    # create sinusoidal reference line with custom velocity profile
+    xs = np.linspace(0, 100, 200)
+    ys = np.sin(xs / 2.0) * 5.0
+    velxs = 4.0 * (1 + (np.abs(np.cos(xs / 2.0))))
+
+    # create track from custom reference line
+    track = Track.from_refline(x=xs, y=ys, velx=velxs)
+
+    # env and planner
+    env = gym.make(
+        "f110_gym:f110-v0",
+        config={
+            "map": track,
+            "num_agents": 1,
+            "observation_config": {"type": "kinematic_state"},
+        },
+        render_mode="human",
+    )
+    planner = PurePursuitPlanner(track=track, wb=0.17145 + 0.15875)
+
+    # rendering callbacks
+    env.add_render_callback(track.raceline.render_waypoints)
+    env.add_render_callback(planner.render_lookahead_point)
+
+    # simulation
+    obs, info = env.reset()
+    done = False
+    env.render()
+
+    while not done:
+        speed, steer = planner.plan(
+            obs["agent_0"]["pose_x"],
+            obs["agent_0"]["pose_y"],
+            obs["agent_0"]["pose_theta"],
+            lookahead_distance=0.8,
+            vgain=1.0,
+        )
+        action = np.array([[steer, speed]])
+        obs, timestep, terminated, truncated, infos = env.step(action)
+        done = terminated or truncated
+        env.render()
+
+    env.close()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py
index 596ac28b..0056cb47 100644
--- a/examples/waypoint_follow.py
+++ b/examples/waypoint_follow.py
@@ -196,13 +196,6 @@ def load_waypoints(self, conf):
             conf.wpt_path, delimiter=conf.wpt_delim, skiprows=conf.wpt_rowskip
         ).astype(np.float32)
 
-    def render_waypoints(self, e):
-        """
-        Callback to render waypoints.
-        """
-        points = self.waypoints[:, :2]
-        e.render_closed_lines(points, color=(128, 0, 0), size=1)
-
     def render_lookahead_point(self, e):
         """
         Callback to render the lookahead point.
@@ -318,7 +311,7 @@ def main():
 
     planner = PurePursuitPlanner(track=track, wb=0.17145 + 0.15875)
 
-    env.unwrapped.add_render_callback(planner.render_waypoints)
+    env.unwrapped.add_render_callback(track.raceline.render_waypoints)
     env.unwrapped.add_render_callback(planner.render_local_plan)
     env.unwrapped.add_render_callback(planner.render_lookahead_point)
 
diff --git a/gym/f110_gym/envs/action.py b/gym/f110_gym/envs/action.py
index fcdbc817..93658462 100644
--- a/gym/f110_gym/envs/action.py
+++ b/gym/f110_gym/envs/action.py
@@ -1,4 +1,3 @@
-from __future__ import annotations
 from abc import abstractmethod
 from enum import Enum
 from typing import Any, Dict, Tuple
diff --git a/gym/f110_gym/envs/base_classes.py b/gym/f110_gym/envs/base_classes.py
index c9754d50..b1e28483 100644
--- a/gym/f110_gym/envs/base_classes.py
+++ b/gym/f110_gym/envs/base_classes.py
@@ -33,6 +33,7 @@
 from f110_gym.envs.collision_models import collision_multiple, get_vertices
 from f110_gym.envs.integrator import EulerIntegrator, IntegratorType
 from f110_gym.envs.laser_models import ScanSimulator2D, check_ttc_jit, ray_cast
+from f110_gym.envs.track import Track
 
 
 class RaceCar(object):
@@ -177,14 +178,14 @@ def update_params(self, params):
         """
         self.params = params
 
-    def set_map(self, map_name: str):
+    def set_map(self, map: str | Track):
         """
         Sets the map for scan simulator
 
         Args:
-            map_name (str): name of the map
+            map (str | Track): name of the map, or Track object
         """
-        RaceCar.scan_simulator.set_map(map_name)
+        RaceCar.scan_simulator.set_map(map)
 
     def reset(self, pose):
         """
@@ -430,18 +431,18 @@ def __init__(
         num_beams = self.agents[0].scan_simulator.num_beams
         self.agent_scans = np.empty((self.num_agents, num_beams))
 
-    def set_map(self, map_name):
+    def set_map(self, map: str | Track):
         """
         Sets the map of the environment and sets the map for scan simulator of each agent
 
         Args:
-            map_name (str): name of the map
+            map (str | Track): name of the map, or Track object
 
         Returns:
             None
         """
         for agent in self.agents:
-            agent.set_map(map_name)
+            agent.set_map(map)
 
     def update_params(self, params, agent_idx=-1):
         """
diff --git a/gym/f110_gym/envs/f110_env.py b/gym/f110_gym/envs/f110_env.py
index bb14d753..ba3458f9 100644
--- a/gym/f110_gym/envs/f110_env.py
+++ b/gym/f110_gym/envs/f110_env.py
@@ -95,7 +95,7 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         self.configure(config)
 
         self.seed = self.config["seed"]
-        self.map_name = self.config["map"]
+        self.map = self.config["map"]
         self.params = self.config["params"]
         self.num_agents = self.config["num_agents"]
         self.timestep = self.config["timestep"]
@@ -143,10 +143,14 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
             model=self.model,
             action_type=self.action_type,
         )
-        self.sim.set_map(self.map_name)
-        self.track = Track.from_track_name(
-            self.map_name
-        )  # load track in gym env for convenience
+        self.sim.set_map(self.map)
+
+        if isinstance(self.map, Track):
+            self.track = self.map
+        else:
+            self.track = Track.from_track_name(
+                self.map
+            )  # load track in gym env for convenience
 
         # observations
         self.agent_ids = [f"agent_{i}" for i in range(self.num_agents)]
diff --git a/gym/f110_gym/envs/integrator.py b/gym/f110_gym/envs/integrator.py
index f708aa82..bfc796be 100644
--- a/gym/f110_gym/envs/integrator.py
+++ b/gym/f110_gym/envs/integrator.py
@@ -1,4 +1,3 @@
-import warnings
 from abc import abstractmethod
 from enum import Enum
 
diff --git a/gym/f110_gym/envs/laser_models.py b/gym/f110_gym/envs/laser_models.py
index 428d876b..d23a3bee 100644
--- a/gym/f110_gym/envs/laser_models.py
+++ b/gym/f110_gym/envs/laser_models.py
@@ -25,7 +25,7 @@
 Prototype of Utility functions and classes for simulating 2D LIDAR scans
 Author: Hongrui Zheng
 """
-
+from __future__ import annotations
 import unittest
 
 import numpy as np
@@ -458,20 +458,20 @@ def __init__(self, num_beams, fov, eps=0.0001, theta_dis=2000, max_range=30.0):
         self.sines = np.sin(theta_arr)
         self.cosines = np.cos(theta_arr)
 
-    def set_map(self, map_name: str):
+    def set_map(self, map: str | Track):
         """
         Set the bitmap of the scan simulator by path
 
             Args:
-                map_name (str): name of the racetrack in the map dir, e.g. "Levine"
+                map (str | Track): path to the map file, or Track object
 
             Returns:
                 flag (bool): if image reading and loading is successful
         """
-        if self.track and self.track.spec.name == map_name:
-            return True
-
-        self.track = Track.from_track_name(map_name)
+        if isinstance(map, str):
+            self.track = Track.from_track_name(map)
+        elif isinstance(map, Track):
+            self.track = map
 
         # load map image
         self.map_img = self.track.occupancy_map
diff --git a/gym/f110_gym/envs/rendering/__init__.py b/gym/f110_gym/envs/rendering/__init__.py
index cbc3ba3b..d66d2a25 100644
--- a/gym/f110_gym/envs/rendering/__init__.py
+++ b/gym/f110_gym/envs/rendering/__init__.py
@@ -1,6 +1,5 @@
-from __future__ import annotations
 import pathlib
-from typing import List, Tuple, Any
+from typing import Any, Optional
 
 from f110_gym.envs.rendering.renderer import RenderSpec, EnvRenderer
 from f110_gym.envs.track import Track
@@ -10,9 +9,25 @@ def make_renderer(
     params: dict[str, Any],
     track: Track,
     agent_ids: list[str],
-    render_mode: str = None,
-    render_fps: int = 100,
-) -> Tuple[EnvRenderer, RenderSpec]:
+    render_mode: Optional[str] = None,
+    render_fps: Optional[int] = 100,
+) -> tuple[EnvRenderer, RenderSpec]:
+    """
+    Return an instance of the renderer and the rendering specification.
+
+    Parameters
+    ----------
+    params : dict
+        dictionary of renderer parameters
+    track : Track
+        track object
+    agent_ids : list
+        list of agent ids to render
+    render_mode : str, optional
+        rendering mode, by default None
+    render_fps : int, optional
+        rendering frames per second, by default 100
+    """
     from f110_gym.envs.rendering.rendering_pygame import PygameEnvRenderer
 
     cfg_file = pathlib.Path(__file__).parent.absolute() / "rendering.yaml"
diff --git a/gym/f110_gym/envs/rendering/objects.py b/gym/f110_gym/envs/rendering/objects.py
index 002a1c71..26ad3d0a 100644
--- a/gym/f110_gym/envs/rendering/objects.py
+++ b/gym/f110_gym/envs/rendering/objects.py
@@ -8,13 +8,40 @@
 
 
 class TextObject:
+    """
+    Class to display text on the screen at a given position.
+
+    Attributes
+    ----------
+    font : pygame.font.Font
+        font object
+    position : str | tuple
+        position of the text on the screen
+    text : pygame.Surface
+        text surface to be displayed
+    """
+
     def __init__(
         self,
-        window_shape: tuple[int, int] = (1000, 1000),
+        window_shape: tuple[int, int],
+        position: str | tuple,
         relative_font_size: int = 32,
         font_name: str = "Arial",
-        position: str | tuple = "bottom_right",
-    ):
+    ) -> None:
+        """
+        Initialize text object.
+
+        Parameters
+        ----------
+        window_shape : tuple
+            shape of the window (width, height) in pixels
+        position : str | tuple
+            position of the text on the screen
+        relative_font_size : int, optional
+            font size relative to the window shape, by default 32
+        font_name : str, optional
+            font name, by default "Arial"
+        """
         font_size = int(relative_font_size * window_shape[0] / 1000)
         self.font = pygame.font.SysFont(font_name, font_size)
         self.position = position
@@ -22,16 +49,34 @@ def __init__(
         self.text = self.font.render("", True, (125, 125, 125))
 
     def _position_resolver(
-        self, position: str | tuple, display: pygame.Surface
+        self, position: str | tuple[int, int], display: pygame.Surface
     ) -> tuple[int, int]:
         """
         This function takes strings like "bottom center" and converts them into a location for the text to be displayed.
-        if position is tuple, then passthrough.
+        If position is tuple, then passthrough.
+
+        Parameters
+        ----------
+        position : str | tuple
+            position of the text on the screen
+        display : pygame.Surface
+            display surface
+
+        Returns
+        -------
+        tuple
+            position of the text on the screen
+
+        Raises
+        ------
+        ValueError
+            if position is not a tuple or a string
+        NotImplementedError
+            if position is a string but not implemented
         """
-        if isinstance(position, tuple):
-            return position
-
-        if isinstance(position, str):
+        if isinstance(position, tuple) and len(position) == 2:
+            return int(position[0]), int(position[1])
+        elif isinstance(position, str):
             position = position.lower()
             if position == "bottom_right":
                 display_width, display_height = (
@@ -56,7 +101,7 @@ def _position_resolver(
                 )
                 text_width, text_height = self.text.get_width(), self.text.get_height()
                 bottom_center = (
-                    (display_width - text_width) / 2,
+                    (display_width - text_width) // 2,
                     display_height - text_height,
                 )
                 return bottom_center
@@ -71,12 +116,26 @@ def _position_resolver(
             elif position == "top_center":
                 display_width = display.get_width()
                 text_width = self.text.get_width()
-                top_center = ((display_width - text_width) / 2, 0)
+                top_center = ((display_width - text_width) // 2, 0)
                 return top_center
             else:
                 raise NotImplementedError(f"Position {position} not implemented.")
+        else:
+            raise ValueError(
+                f"Position expected to be a tuple[int, int] or a string. Got {position}."
+            )
 
-    def render(self, text: str, display: pygame.Surface):
+    def render(self, text: str, display: pygame.Surface) -> None:
+        """
+        Render text on the screen.
+
+        Parameters
+        ----------
+        text : str
+            text to be displayed
+        display : pygame.Surface
+            display surface                    
+        """
         self.text = self.font.render(text, True, (125, 125, 125))
         position_tuple = self._position_resolver(self.position, display)
         display.blit(self.text, position_tuple)
diff --git a/gym/f110_gym/envs/rendering/renderer.py b/gym/f110_gym/envs/rendering/renderer.py
index d20a1b93..98305c82 100644
--- a/gym/f110_gym/envs/rendering/renderer.py
+++ b/gym/f110_gym/envs/rendering/renderer.py
@@ -1,9 +1,10 @@
 from __future__ import annotations
 import pathlib
-from abc import abstractmethod
+from abc import abstractmethod, ABC
 from dataclasses import dataclass
-from typing import Union, Any
+from typing import Optional, Any
 
+import numpy as np
 import yaml
 
 
@@ -14,19 +15,39 @@ class RenderSpec:
     focus_on: str
     car_tickness: int
     show_wheels: bool
-    show_info: bool = True
-    vehicle_palette: list[str] = None
+    show_info: Optional[bool] = True
+    vehicle_palette: Optional[list[str]] = None
 
     def __init__(
         self,
         window_size: int = 800,
         focus_on: str = None,
-        zoom_in_factor: float = 1.5,
+        zoom_in_factor: float = 1.0,
         car_tickness: int = 1,
         show_wheels: bool = False,
         show_info: bool = True,
         vehicle_palette: list[str] = None,
-    ):
+    ) -> None:
+        """
+        Initialize rendering specification.
+
+        Parameters
+        ----------
+        window_size : int, optional
+            size of the square window, by default 800
+        focus_on : str, optional
+            focus on a specific vehicle, by default None
+        zoom_in_factor : float, optional
+            zoom in factor, by default 1.0 (no zoom)
+        car_tickness : int, optional
+            thickness of the car in pixels, by default 1
+        show_wheels : bool, optional
+            toggle rendering of line segments for wheels, by default False
+        show_info : bool, optional
+            toggle rendering of text instructions, by default True
+        vehicle_palette : list, optional
+            list of colors for rendering vehicles according to their id, by default None
+        """
         self.window_size = window_size
         self.focus_on = focus_on
         self.zoom_in_factor = zoom_in_factor
@@ -36,7 +57,20 @@ def __init__(
         self.vehicle_palette = vehicle_palette or ["#984ea3"]
 
     @staticmethod
-    def from_yaml(yaml_file: Union[str, pathlib.Path]):
+    def from_yaml(yaml_file: str | pathlib.Path):
+        """
+        Load rendering specification from a yaml file.
+
+        Parameters
+        ----------
+        yaml_file : str | pathlib.Path
+            path to the yaml file
+
+        Returns
+        -------
+        RenderSpec
+            rendering specification object
+        """
         with open(yaml_file, "r") as yaml_stream:
             try:
                 config = yaml.safe_load(yaml_stream)
@@ -45,35 +79,70 @@ def from_yaml(yaml_file: Union[str, pathlib.Path]):
         return RenderSpec(**config)
 
 
-class EnvRenderer:
-    render_callbacks = []
+class EnvRenderer(ABC):
+    """
+    Abstract class for rendering the environment.
+    """
 
     @abstractmethod
-    def update(self, state):
+    def update(self, state: Any) -> None:
         """
         Update the state to be rendered.
         This is called at every rendering call.
+
+        Parameters
+        ----------
+        state : Any
+            state to be rendered, e.g. a list of vehicle states
         """
         raise NotImplementedError()
 
-    def add_renderer_callback(self, callback_fn: callable):
+    @abstractmethod
+    def render(self):
         """
-        Add a callback function to be called at every rendering call.
-        This is called at the end of `update`.
+        Render the current state in a frame.
         """
-        self.render_callbacks.append(callback_fn)
+        raise NotImplementedError()
 
     @abstractmethod
-    def render_map(self):
+    def render_lines(
+        self,
+        points: list | np.ndarray,
+        color: Optional[tuple[int, int, int]] = (0, 0, 255),
+        size: Optional[int] = 1,
+    ):
         """
-        Render the current state in a frame.
+        Render a sequence of lines segments.
+
+        Parameters
+        ----------
+        points : list | np.ndarray
+            list of points to render
+        color : tuple[int, int, int], optional
+            color as rgb tuple, by default blue (0, 0, 255)
+        size : int, optional
+            size of the line, by default 1
         """
         raise NotImplementedError()
 
     @abstractmethod
-    def render(self):
+    def render_closed_lines(
+        self,
+        points: list | np.ndarray,
+        color: Optional[tuple[int, int, int]] = (0, 0, 255),
+        size: Optional[int] = 1,
+    ):
         """
-        Render the current state in a frame.
+        Render a closed loop of lines (draw a line between the last and the first point).
+
+        Parameters
+        ----------
+        points : list | np.ndarray
+            list of points to render
+        color : tuple[int, int, int], optional
+            color as rgb tuple, by default blue (0, 0, 255)
+        size : int, optional
+            size of the line, by default 1
         """
         raise NotImplementedError()
 
diff --git a/gym/f110_gym/envs/rendering/rendering_pygame.py b/gym/f110_gym/envs/rendering/rendering_pygame.py
index eb0ccb85..e1b57777 100644
--- a/gym/f110_gym/envs/rendering/rendering_pygame.py
+++ b/gym/f110_gym/envs/rendering/rendering_pygame.py
@@ -1,15 +1,12 @@
 from __future__ import annotations
-
 import logging
 import math
-import pathlib
-from typing import Union, List, Tuple, Any
+from typing import Any, Callable, Optional
 
 import cv2
 import numpy as np
 import pygame
-import yaml
-from PIL import Image, ImageColor
+from PIL import ImageColor
 
 from f110_gym.envs.rendering.objects import (
     Map,
@@ -24,6 +21,10 @@
 
 
 class PygameEnvRenderer(EnvRenderer):
+    """
+    Renderer of the environment using Pygame.
+    """
+
     def __init__(
         self,
         params: dict[str, Any],
@@ -33,11 +34,30 @@ def __init__(
         render_mode: str,
         render_fps: int,
     ):
+        """
+        Initialize the Pygame renderer.
+
+        Parameters
+        ----------
+        params : dict
+            dictionary of simulation parameters (including vehicle dimensions, etc.)
+        track : Track
+            track object
+        agent_ids : list
+            list of agent ids to render
+        render_spec : RenderSpec
+            rendering specification
+        render_mode : str
+            rendering mode in ["human", "human_fast", "rgb_array"]
+        render_fps : int
+            number of frames per second            
+        """
         super().__init__()
-        self.params = params  # simulation params
-        self.agent_ids = agent_ids  # list of agent ids
+        self.params = params
+        self.agent_ids = agent_ids
 
         self.cars = None
+        self.sim_time = None
         self.window = None
         self.canvas = None
 
@@ -63,15 +83,11 @@ def __init__(
             self.window.fill((255, 255, 255))  # white background
 
         self.canvas = pygame.Surface((width, height))
+        self.map_canvas = None
 
-        # load map metadata
-        map_filepath = pathlib.Path(track.filepath)
-        map_yaml = map_filepath.with_suffix(".yaml")
-        with open(map_yaml, "r") as yaml_stream:
-            try:
-                self.map_metadata = yaml.safe_load(yaml_stream)
-            except yaml.YAMLError as ex:
-                print(ex)
+        # map metadata
+        self.map_origin = track.spec.origin
+        self.map_resolution = track.spec.resolution
 
         # fps and time renderer
         self.clock = pygame.time.Clock()
@@ -89,10 +105,7 @@ def __init__(
         )
 
         # load map image
-        original_img = map_filepath.parent / self.map_metadata["image"]
-        original_img = np.array(
-            Image.open(original_img).transpose(Image.FLIP_TOP_BOTTOM)
-        ).astype(np.float64)
+        original_img = track.occupancy_map
 
         self.map_renderers = {
             "map": Map(map_img=original_img, zoom_level=0.4),
@@ -121,14 +134,14 @@ def __init__(
             self.follow_agent_flag: bool = False
             self.agent_to_follow: int = None
 
-    def update(self, state):
+    def update(self, state: dict) -> None:
         """
         Update the simulation state to be rendered.
 
-        Args:
+        Parameters
+        ----------
             state: simulation state as dictionary
         """
-        # initialize cars
         if self.cars is None:
             self.cars = [
                 Car(
@@ -136,8 +149,8 @@ def update(self, state):
                     car_width=self.params["width"],
                     color=self.car_colors[ic],
                     render_spec=self.render_spec,
-                    map_origin=self.map_metadata["origin"],
-                    resolution=self.map_metadata["resolution"],
+                    map_origin=self.map_origin[:2],
+                    resolution=self.map_resolution,
                     ppu=self.ppus[self.active_map_renderer],
                 )
                 for ic in range(len(self.agent_ids))
@@ -151,10 +164,28 @@ def update(self, state):
         # update time
         self.sim_time = state["sim_time"]
 
-    def add_renderer_callback(self, callback_fn: callable):
+    def add_renderer_callback(self, callback_fn: Callable[[EnvRenderer], None]) -> None:
+        """
+        Add a custom callback for visualization.
+        All the callbacks are called at every rendering step, after having rendered the map and the cars.
+
+        Parameters
+        ----------
+        callback_fn : Callable[[EnvRenderer], None]
+            callback function to be called at every rendering step
+        """
         self.callbacks.append(callback_fn)
 
-    def render(self):
+    def render(self) -> Optional[np.ndarray]:
+        """
+        Render the current state in a frame.
+        It renders in the order: map, cars, callbacks, info text.
+
+        Returns
+        -------
+        Optional[np.ndarray]
+            if render_mode is "rgb_array", returns the rendered frame as an array
+        """
         self.event_handling()
 
         self.canvas.fill((255, 255, 255))  # white background
@@ -176,11 +207,8 @@ def render(self):
             screen_rect = self.canvas.get_rect()
 
             if self.follow_agent_flag:
-                origin = self.map_metadata["origin"]
-                resolution = (
-                    self.map_metadata["resolution"]
-                    * self.ppus[self.active_map_renderer]
-                )
+                origin = self.map_origin
+                resolution = self.map_resolution * self.ppus[self.active_map_renderer]
                 ego_x, ego_y = self.cars[self.agent_to_follow].pose[:2]
                 cx = (ego_x - origin[0]) / resolution
                 cy = (ego_y - origin[1]) / resolution
@@ -231,7 +259,7 @@ def render(self):
                 )
             return frame
 
-    def event_handling(self):
+    def event_handling(self) -> None:
         """
         Handle interaction events to change point-of-view.
 
@@ -282,21 +310,25 @@ def event_handling(self):
 
     def render_points(
         self,
-        points: Union[List, np.ndarray],
-        color: Tuple[int, int, int] = (0, 0, 255),
-        size: int = 1,
-    ):
+        points: list | np.ndarray,
+        color: Optional[tuple[int, int, int]] = (0, 0, 255),
+        size: Optional[int] = 1,
+    ) -> None:
         """
         Render a sequence of xy points on screen.
 
-        Args:
-            points: sequence of xy points (N, 2)
-            color: rgb color of the points
-            size: size of the points in pixels
+        Parameters
+        ----------
+        points : list | np.ndarray
+            list of points to render
+        color : Optional[tuple[int, int, int]], optional
+            color as rgb tuple, by default blue (0, 0, 255)
+        size : Optional[int], optional
+            size of the points in pixels, by default 1
         """
-        origin = self.map_metadata["origin"]
+        origin = self.map_origin
         ppu = self.ppus[self.active_map_renderer]
-        resolution = self.map_metadata["resolution"] * ppu
+        resolution = self.map_resolution * ppu
         points = ((points - origin[:2]) / resolution).astype(int)
         size = math.ceil(size / ppu)
 
@@ -305,21 +337,25 @@ def render_points(
 
     def render_lines(
         self,
-        points: Union[List, np.ndarray],
-        color: Tuple[int, int, int] = (0, 0, 255),
-        size: int = 1,
-    ):
+        points: list | np.ndarray,
+        color: Optional[tuple[int, int, int]] = (0, 0, 255),
+        size: Optional[int] = 1,
+    ) -> None:
         """
         Render a sequence of lines segments.
 
-        Args:
-            points: sequence of xy points (N, 2)
-            color: rgb color of the points
-            size: size of the points in pixels
+        Parameters
+        ----------
+        points : list | np.ndarray
+            list of points to render
+        color : Optional[tuple[int, int, int]], optional
+            color as rgb tuple, by default blue (0, 0, 255)
+        size : Optional[int], optional
+            size of the line, by default 1
         """
-        origin = self.map_metadata["origin"]
+        origin = self.map_origin
         ppu = self.ppus[self.active_map_renderer]
-        resolution = self.map_metadata["resolution"] * ppu
+        resolution = self.map_resolution * ppu
         points = ((points - origin[:2]) / resolution).astype(int)
         size = math.ceil(size / ppu)
 
@@ -329,21 +365,25 @@ def render_lines(
 
     def render_closed_lines(
         self,
-        points: Union[List, np.ndarray],
-        color: Tuple[int, int, int] = (0, 0, 255),
-        size: int = 1,
-    ):
+        points: list | np.ndarray,
+        color: Optional[tuple[int, int, int]] = (0, 0, 255),
+        size: Optional[int] = 1,
+    ) -> None:
         """
-        Render a sequence of lines segments.
-
-        Args:
-            points: sequence of xy points (N, 2)
-            color: rgb color of the points
-            size: size of the points in pixels
+        Render a sequence of lines segments forming a closed loop (draw a line between the last and the first point).
+
+        Parameters
+        ----------
+        points : list | np.ndarray
+            list of 2d points to render
+        color : Optional[tuple[int, int, int]], optional
+            color as rgb tuple, by default blue (0, 0, 255)
+        size : Optional[int], optional
+            size of the line, by default 1
         """
-        origin = self.map_metadata["origin"]
+        origin = self.map_origin
         ppu = self.ppus[self.active_map_renderer]
-        resolution = self.map_metadata["resolution"] * ppu
+        resolution = self.map_resolution * ppu
         points = ((points - origin[:2]) / resolution).astype(int)
         size = math.ceil(size / ppu)
 
@@ -351,6 +391,9 @@ def render_closed_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":
+    def close(self) -> None:
+        """
+        Close the rendering environment.
+        """
+        if self.render_mode in ["human", "human_fast"]:
             pygame.quit()
diff --git a/gym/f110_gym/envs/reset/utils.py b/gym/f110_gym/envs/reset/utils.py
index f345276c..c677572f 100644
--- a/gym/f110_gym/envs/reset/utils.py
+++ b/gym/f110_gym/envs/reset/utils.py
@@ -1,8 +1,6 @@
-from __future__ import annotations
-
 import numpy as np
 
-from f110_gym.envs.track import Track, Raceline
+from f110_gym.envs.track import Raceline
 
 
 def sample_around_waypoint(
diff --git a/gym/f110_gym/envs/track.py b/gym/f110_gym/envs/track.py
deleted file mode 100644
index 541994bf..00000000
--- a/gym/f110_gym/envs/track.py
+++ /dev/null
@@ -1,248 +0,0 @@
-import pathlib
-import tarfile
-from dataclasses import dataclass
-from typing import Tuple
-import tempfile
-
-import numpy as np
-import requests
-import yaml
-from f110_gym.envs.cubic_spline import CubicSpline2D
-from PIL import Image
-from PIL.Image import Transpose
-from yamldataclassconfig.config import YamlDataClassConfig
-
-
-class Raceline:
-    n: int
-
-    ss: np.ndarray  # cumulative distance along the raceline
-    xs: np.ndarray  # x-coordinates of the raceline
-    ys: np.ndarray  # y-coordinates of the raceline
-    yaws: np.ndarray  # yaw angle of the raceline
-    ks: np.ndarray  # curvature of the raceline
-    vxs: np.ndarray  # velocity along the raceline
-    axs: np.ndarray  # acceleration along the raceline
-
-    length: float
-
-    def __init__(
-        self,
-        xs: np.ndarray,
-        ys: np.ndarray,
-        velxs: np.ndarray,
-        ss: np.ndarray = None,
-        psis: np.ndarray = None,
-        kappas: np.ndarray = None,
-        accxs: np.ndarray = None,
-        spline: CubicSpline2D = None,
-    ):
-        assert xs.shape == ys.shape == velxs.shape, "inconsistent shapes for x, y, vel"
-
-        self.n = xs.shape[0]
-        self.ss = ss
-        self.xs = xs
-        self.ys = ys
-        self.yaws = psis
-        self.ks = kappas
-        self.vxs = velxs
-        self.axs = accxs
-
-        # approximate track length by linear-interpolation of x,y waypoints
-        # note: we could use 'ss' but sometimes it is normalized to [0,1], so we recompute it here
-        self.length = float(np.sum(np.sqrt(np.diff(xs) ** 2 + np.diff(ys) ** 2)))
-
-        # compute spline
-        self.spline = spline if spline is not None else CubicSpline2D(xs, ys)
-
-    @staticmethod
-    def from_centerline_file(
-        filepath: pathlib.Path, delimiter: str = ",", fixed_speed: float = 1.0
-    ):
-        assert filepath.exists(), f"input filepath does not exist ({filepath})"
-        waypoints = np.loadtxt(filepath, delimiter=delimiter)
-        assert waypoints.shape[1] == 4, "expected waypoints as [x, y, w_left, w_right]"
-
-        # fit cubic spline to waypoints
-        xx, yy = waypoints[:, 0], waypoints[:, 1]
-        # close loop
-        xx = np.append(xx, xx[0])
-        yy = np.append(yy, yy[0])
-        spline = CubicSpline2D(xx, yy)
-        ds = 0.1
-
-        ss, xs, ys, yaws, ks = [], [], [], [], []
-
-        for i_s in np.arange(0, spline.s[-1], ds):
-            x, y = spline.calc_position(i_s)
-            yaw = spline.calc_yaw(i_s)
-            k = spline.calc_curvature(i_s)
-
-            xs.append(x)
-            ys.append(y)
-            yaws.append(yaw)
-            ks.append(k)
-            ss.append(i_s)
-
-        return Raceline(
-            ss=np.array(ss).astype(np.float32),
-            xs=np.array(xs).astype(np.float32),
-            ys=np.array(ys).astype(np.float32),
-            psis=np.array(yaws).astype(np.float32),
-            kappas=np.array(ks).astype(np.float32),
-            velxs=np.ones_like(ss).astype(
-                np.float32
-            ),  # centerline does not have a speed profile, keep it constant at 1.0 m/s
-            accxs=np.zeros_like(ss).astype(np.float32),  # constant acceleration
-        )
-
-    @staticmethod
-    def from_raceline_file(filepath: pathlib.Path, delimiter: str = ";"):
-        assert filepath.exists(), f"input filepath does not exist ({filepath})"
-        waypoints = np.loadtxt(filepath, delimiter=delimiter).astype(np.float32)
-        assert (
-            waypoints.shape[1] == 7
-        ), "expected waypoints as [s, x, y, psi, k, vx, ax]"
-        return Raceline(
-            ss=waypoints[:, 0],
-            xs=waypoints[:, 1],
-            ys=waypoints[:, 2],
-            psis=waypoints[:, 3],
-            kappas=waypoints[:, 4],
-            velxs=waypoints[:, 5],
-            accxs=waypoints[:, 6],
-        )
-
-
-@dataclass
-class TrackSpec(YamlDataClassConfig):
-    name: str
-    image: str
-    resolution: float
-    origin: Tuple[float, float, float]
-    negate: int
-    occupied_thresh: float
-    free_thresh: float
-
-
-def find_track_dir(track_name):
-    # we assume there are no blank space in the track name. however, to take into account eventual blank spaces in
-    # the map dirpath, we loop over all possible maps and check if there is a matching with the current track
-    map_dir = pathlib.Path(__file__).parent.parent.parent.parent / "maps"
-
-    if not (map_dir / track_name).exists():
-        print("Downloading Files for: " + track_name)
-        tracks_url = "http://api.f1tenth.org/" + track_name + ".tar.xz"
-        tracks_r = requests.get(url=tracks_url, allow_redirects=True)
-        if tracks_r.status_code == 404:
-            raise FileNotFoundError(f"No maps exists for {track_name}.")
-
-        tempdir = tempfile.gettempdir() + "/"
-
-        with open(tempdir + track_name + ".tar.xz", "wb") as f:
-            f.write(tracks_r.content)
-
-        # extract
-        print("Extracting Files for: " + track_name)
-        tracks_file = tarfile.open(tempdir + track_name + ".tar.xz")
-        tracks_file.extractall(map_dir)
-        tracks_file.close()
-
-    for base_dir in [map_dir]:
-        if not base_dir.exists():
-            continue
-
-        for dir in base_dir.iterdir():
-            if track_name == str(dir.stem).replace(" ", ""):
-                return dir
-
-    raise FileNotFoundError(f"no mapdir matching {track_name} in {[map_dir]}")
-
-
-@dataclass
-class Track:
-    spec: TrackSpec
-    filepath: str
-    ext: str
-    occupancy_map: np.ndarray
-    centerline: Raceline
-    raceline: Raceline
-
-    def __init__(
-        self,
-        spec: TrackSpec,
-        filepath: str,
-        ext: str,
-        occupancy_map: np.ndarray,
-        centerline: Raceline = None,
-        raceline: Raceline = None,
-    ):
-        self.spec = spec
-        self.filepath = filepath
-        self.ext = ext
-        self.occupancy_map = occupancy_map
-        self.centerline = centerline
-        self.raceline = raceline
-
-    @staticmethod
-    def load_spec(track: str, filespec: str):
-        """
-        Load track specification from yaml file.
-
-        Args:
-
-        """
-        with open(filespec, "r") as yaml_stream:
-            map_metadata = yaml.safe_load(yaml_stream)
-            track_spec = TrackSpec(name=track, **map_metadata)
-        return track_spec
-
-    @staticmethod
-    def from_track_name(track: str):
-        try:
-            track_dir = find_track_dir(track)
-            track_spec = Track.load_spec(
-                track=track, filespec=str(track_dir / f"{track_dir.stem}_map.yaml")
-            )
-
-            # load occupancy grid
-            map_filename = pathlib.Path(track_spec.image)
-            image = Image.open(track_dir / str(map_filename)).transpose(
-                Transpose.FLIP_TOP_BOTTOM
-            )
-            occupancy_map = np.array(image).astype(np.float32)
-            occupancy_map[occupancy_map <= 128] = 0.0
-            occupancy_map[occupancy_map > 128] = 255.0
-
-            # if exists, load centerline
-            if (track_dir / f"{track}_centerline.csv").exists():
-                centerline = Raceline.from_centerline_file(
-                    track_dir / f"{track}_centerline.csv"
-                )
-            else:
-                centerline = None
-
-            # if exists, load raceline
-            if (track_dir / f"{track}_raceline.csv").exists():
-                raceline = Raceline.from_raceline_file(
-                    track_dir / f"{track}_raceline.csv"
-                )
-            else:
-                raceline = centerline
-
-            return Track(
-                spec=track_spec,
-                filepath=str((track_dir / map_filename.stem).absolute()),
-                ext=map_filename.suffix,
-                occupancy_map=occupancy_map,
-                centerline=centerline,
-                raceline=raceline,
-            )
-        except Exception as ex:
-            print(ex)
-            raise FileNotFoundError(f"could not load track {track}") from ex
-
-
-if __name__ == "__main__":
-    track = Track.from_track_name("Example")
-    print("[Result] map loaded successfully")
diff --git a/gym/f110_gym/envs/track/__init__.py b/gym/f110_gym/envs/track/__init__.py
new file mode 100644
index 00000000..74938f9c
--- /dev/null
+++ b/gym/f110_gym/envs/track/__init__.py
@@ -0,0 +1,3 @@
+from .raceline import Raceline
+from .track import Track, TrackSpec
+from .utils import find_track_dir
diff --git a/gym/f110_gym/envs/cubic_spline.py b/gym/f110_gym/envs/track/cubic_spline.py
similarity index 51%
rename from gym/f110_gym/envs/cubic_spline.py
rename to gym/f110_gym/envs/track/cubic_spline.py
index 8b1a0fab..b148c269 100644
--- a/gym/f110_gym/envs/cubic_spline.py
+++ b/gym/f110_gym/envs/track/cubic_spline.py
@@ -2,6 +2,7 @@
 Code from Cubic spline planner
 Author: Atsushi Sakai(@Atsushi_twi)
 """
+from __future__ import annotations
 import bisect
 import math
 
@@ -11,16 +12,43 @@
 class CubicSpline1D:
     """
     1D Cubic Spline class
-    Parameters
+
+    Attributes
     ----------
     x : list
         x coordinates for data points. This x coordinates must be
         sorted in ascending order.
     y : list
         y coordinates for data points
+    a : list
+        coefficient a
+    b : list
+        coefficient b
+    c : list
+        coefficient c
+    d : list
+        coefficient d
+    nx : int
+        dimension of x
     """
 
-    def __init__(self, x, y):
+    def __init__(self, x: np.ndarray, y: np.ndarray):
+        """
+        Returns a 1D cubic spline object.
+
+        Parameters
+        ----------
+        x : list
+            x coordinates for data points. This x coordinates must be
+            sorted in ascending order.
+        y : list
+            y coordinates for data points
+
+        Raises
+        ------
+        ValueError
+            if x is not sorted in ascending order
+        """
         h = np.diff(x)
         if np.any(h < 0):
             raise ValueError("x coordinates must be sorted in ascending order")
@@ -30,12 +58,12 @@ def __init__(self, x, y):
         self.y = y
         self.nx = len(x)  # dimension of x
 
-        # calc coefficient a
+        # Calc coefficient a
         self.a = [iy for iy in y]
 
-        # calc coefficient c
-        A = self.__calc_A(h)
-        B = self.__calc_B(h, self.a)
+        # Calc coefficient c
+        A = self.__calc_A(h=h)
+        B = self.__calc_B(h=h, a=self.a)
         self.c = np.linalg.solve(A, B)
 
         # calc spline coefficient b and d
@@ -47,14 +75,20 @@ def __init__(self, x, y):
             self.d.append(d)
             self.b.append(b)
 
-    def calc_position(self, x):
+    def calc_position(self, x: float) -> float | None:
         """
         Calc `y` position for given `x`.
-        if `x` is outside the data point's `x` range, return None.
+        If `x` is outside the data point's `x` range, return None.
+
+        Parameters
+        ----------
+        x : float
+            position for which to calculate y.
+
         Returns
         -------
         y : float
-            y position for given x.
+            position along the spline for given x.
         """
         if x < self.x[0]:
             return None
@@ -64,15 +98,21 @@ def calc_position(self, x):
         i = self.__search_index(x)
         dx = x - self.x[i]
         position = (
-            self.a[i] + self.b[i] * dx + self.c[i] * dx**2.0 + self.d[i] * dx**3.0
+            self.a[i] + self.b[i] * dx + self.c[i] * dx ** 2.0 + self.d[i] * dx ** 3.0
         )
 
         return position
 
-    def calc_first_derivative(self, x):
+    def calc_first_derivative(self, x: float) -> float | None:
         """
         Calc first derivative at given x.
-        if x is outside the input x, return None
+        If x is outside the input x, return None
+
+        Parameters
+        ----------
+        x : float
+            position for which to calculate the first derivative.
+
         Returns
         -------
         dy : float
@@ -86,13 +126,19 @@ def calc_first_derivative(self, x):
 
         i = self.__search_index(x)
         dx = x - self.x[i]
-        dy = self.b[i] + 2.0 * self.c[i] * dx + 3.0 * self.d[i] * dx**2.0
+        dy = self.b[i] + 2.0 * self.c[i] * dx + 3.0 * self.d[i] * dx ** 2.0
         return dy
 
-    def calc_second_derivative(self, x):
+    def calc_second_derivative(self, x: float) -> float | None:
         """
         Calc second derivative at given x.
-        if x is outside the input x, return None
+        If x is outside the input x, return None
+
+        Parameters
+        ----------
+        x : float
+            position for which to calculate the second derivative.
+
         Returns
         -------
         ddy : float
@@ -109,15 +155,35 @@ def calc_second_derivative(self, x):
         ddy = 2.0 * self.c[i] + 6.0 * self.d[i] * dx
         return ddy
 
-    def __search_index(self, x):
+    def __search_index(self, x: float) -> int:
         """
-        search data segment index
+        Search data segment index.
+
+        Parameters
+        ----------
+        x : float
+            position for which to find the segment index.
+
+        Returns
+        -------
+        index : int
+            index of the segment.
         """
         return bisect.bisect(self.x[:-1], x) - 1
 
-    def __calc_A(self, h):
+    def __calc_A(self, h: np.ndarray) -> np.ndarray:
         """
-        calc matrix A for spline coefficient c
+        Calc matrix A for spline coefficient c.
+
+        Parameters
+        ----------
+        h : np.ndarray
+            difference of x coordinates.
+
+        Returns
+        -------
+        A : np.ndarray
+            matrix A.
         """
         A = np.zeros((self.nx, self.nx))
         A[0, 0] = 1.0
@@ -132,9 +198,21 @@ def __calc_A(self, h):
         A[self.nx - 1, self.nx - 1] = 1.0
         return A
 
-    def __calc_B(self, h, a):
+    def __calc_B(self, h: np.ndarray, a: np.ndarray) -> np.ndarray:
         """
-        calc matrix B for spline coefficient c
+        Calc matrix B for spline coefficient c.
+
+        Parameters
+        ----------
+        h : np.ndarray
+            difference of x coordinates.
+        a : np.ndarray
+            y coordinates for data points.
+
+        Returns
+        -------
+        B : np.ndarray
+            matrix B.
         """
         B = np.zeros(self.nx)
         for i in range(self.nx - 2):
@@ -146,41 +224,71 @@ def __calc_B(self, h, a):
 
 class CubicSpline2D:
     """
-    Cubic CubicSpline2D class
-    Parameters
+    Cubic CubicSpline2D class.
+
+    Attributes
     ----------
-    x : list
-        x coordinates for data points.
-    y : list
-        y coordinates for data points.
+    s : list
+        cumulative distance along the data points.
+    sx : CubicSpline1D
+        cubic spline for x coordinates.
+    sy : CubicSpline1D
+        cubic spline for y coordinates.
     """
 
-    def __init__(self, x, y):
+    def __init__(self, x: np.ndarray, y: np.ndarray):
+        """
+        Returns a 2D cubic spline object.
+
+        Parameters
+        ----------
+        x : list
+            x coordinates for data points.
+        y : list
+            y coordinates for data points.
+        """
         self.s = self.__calc_s(x, y)
-        self.sx = CubicSpline1D(self.s, x)
-        self.sy = CubicSpline1D(self.s, y)
+        self.sx = CubicSpline1D(x=self.s, y=x)
+        self.sy = CubicSpline1D(x=self.s, y=y)
+
+    def __calc_s(self, x: np.ndarray, y: np.ndarray) -> np.ndarray:
+        """
+        Calc cumulative distance.
 
-    def __calc_s(self, x, y):
+        Parameters
+        ----------
+        x : list
+            x coordinates for data points.
+        y : list
+            y coordinates for data points.
+
+        Returns
+        -------
+        s : np.ndarray
+            cumulative distance along the data points.
+        """
         dx = np.diff(x)
         dy = np.diff(y)
         self.ds = np.hypot(dx, dy)
         s = [0]
         s.extend(np.cumsum(self.ds))
-        return s
+        return np.array(s)
 
-    def calc_position(self, s):
+    def calc_position(self, s: float) -> tuple[float | None, float | None]:
         """
-        calc position
+        Calc position at the given s.
+
         Parameters
         ----------
         s : float
             distance from the start point. if `s` is outside the data point's
             range, return None.
+
         Returns
         -------
-        x : float
+        x : float | None
             x position for given s.
-        y : float
+        y : float | None
             y position for given s.
         """
         x = self.sx.calc_position(s)
@@ -188,14 +296,16 @@ def calc_position(self, s):
 
         return x, y
 
-    def calc_curvature(self, s):
+    def calc_curvature(self, s: float) -> float | None:
         """
-        calc curvature
+        Calc curvature at the given s.
+
         Parameters
         ----------
         s : float
             distance from the start point. if `s` is outside the data point's
             range, return None.
+
         Returns
         -------
         k : float
@@ -205,17 +315,18 @@ def calc_curvature(self, s):
         ddx = self.sx.calc_second_derivative(s)
         dy = self.sy.calc_first_derivative(s)
         ddy = self.sy.calc_second_derivative(s)
-        k = (ddy * dx - ddx * dy) / ((dx**2 + dy**2) ** (3 / 2))
+        k = (ddy * dx - ddx * dy) / ((dx ** 2 + dy ** 2) ** (3 / 2))
         return k
 
-    def calc_yaw(self, s):
+    def calc_yaw(self, s: float) -> float | None:
         """
-        calc yaw
+        Calc yaw angle at the given s.
+
         Parameters
         ----------
         s : float
-            distance from the start point. if `s` is outside the data point's
-            range, return None.
+            distance from the start point. If `s` is outside the data point's range, return None.
+
         Returns
         -------
         yaw : float
diff --git a/gym/f110_gym/envs/track/raceline.py b/gym/f110_gym/envs/track/raceline.py
new file mode 100644
index 00000000..e1420b24
--- /dev/null
+++ b/gym/f110_gym/envs/track/raceline.py
@@ -0,0 +1,169 @@
+from __future__ import annotations
+import pathlib
+from typing import Optional
+
+import numpy as np
+
+from f110_gym.envs.rendering import EnvRenderer
+from f110_gym.envs.track.cubic_spline import CubicSpline2D
+
+
+class Raceline:
+    """
+    Raceline object.
+
+    Attributes
+    ----------
+    n : int
+        number of waypoints
+    ss : np.ndarray
+        arclength along the raceline
+    xs : np.ndarray
+        x-coordinates of the waypoints
+    ys : np.ndarray
+        y-coordinates of the waypoints
+    yaws : np.ndarray
+        yaw angles of the waypoints
+    ks : np.ndarray
+        curvature of the waypoints
+    vxs : np.ndarray
+        velocity along the raceline
+    axs : np.ndarray
+        acceleration along the raceline
+    length : float
+        length of the raceline
+    spline : CubicSpline2D
+        spline object through the waypoints
+    """
+
+    def __init__(
+        self,
+        xs: np.ndarray,
+        ys: np.ndarray,
+        velxs: np.ndarray,
+        ss: Optional[np.ndarray] = None,
+        psis: Optional[np.ndarray] = None,
+        kappas: Optional[np.ndarray] = None,
+        accxs: Optional[np.ndarray] = None,
+        spline: Optional[CubicSpline2D] = None,
+    ):
+        assert xs.shape == ys.shape == velxs.shape, "inconsistent shapes for x, y, vel"
+
+        self.n = xs.shape[0]
+        self.ss = ss
+        self.xs = xs
+        self.ys = ys
+        self.yaws = psis
+        self.ks = kappas
+        self.vxs = velxs
+        self.axs = accxs
+
+        # approximate track length by linear-interpolation of x,y waypoints
+        # note: we could use 'ss' but sometimes it is normalized to [0,1], so we recompute it here
+        self.length = float(np.sum(np.sqrt(np.diff(xs) ** 2 + np.diff(ys) ** 2)))
+
+        # compute spline through waypoints if not provided
+        self.spline = spline or CubicSpline2D(x=xs, y=ys)
+
+    @staticmethod
+    def from_centerline_file(
+        filepath: pathlib.Path,
+        delimiter: Optional[str] = ",",
+        fixed_speed: Optional[float] = 1.0,
+    ):
+        """
+        Load raceline from a centerline file.
+
+        Parameters
+        ----------
+        filepath : pathlib.Path
+            path to the centerline file
+        delimiter : str, optional
+            delimiter used in the file, by default ","
+        fixed_speed : float, optional
+            fixed speed along the raceline, by default 1.0
+
+        Returns
+        -------
+        Raceline
+            raceline object
+        """
+        assert filepath.exists(), f"input filepath does not exist ({filepath})"
+        waypoints = np.loadtxt(filepath, delimiter=delimiter)
+        assert waypoints.shape[1] == 4, "expected waypoints as [x, y, w_left, w_right]"
+
+        # fit cubic spline to waypoints
+        xx, yy = waypoints[:, 0], waypoints[:, 1]
+        # close loop
+        xx = np.append(xx, xx[0])
+        yy = np.append(yy, yy[0])
+        spline = CubicSpline2D(x=xx, y=yy)
+        ds = 0.1
+
+        ss, xs, ys, yaws, ks = [], [], [], [], []
+
+        for i_s in np.arange(0, spline.s[-1], ds):
+            x, y = spline.calc_position(i_s)
+            yaw = spline.calc_yaw(i_s)
+            k = spline.calc_curvature(i_s)
+
+            xs.append(x)
+            ys.append(y)
+            yaws.append(yaw)
+            ks.append(k)
+            ss.append(i_s)
+
+        return Raceline(
+            ss=np.array(ss).astype(np.float32),
+            xs=np.array(xs).astype(np.float32),
+            ys=np.array(ys).astype(np.float32),
+            psis=np.array(yaws).astype(np.float32),
+            kappas=np.array(ks).astype(np.float32),
+            velxs=np.ones_like(ss).astype(np.float32) * fixed_speed,  # constant speed
+            accxs=np.zeros_like(ss).astype(np.float32),  # constant acceleration
+            spline=spline,
+        )
+
+    @staticmethod
+    def from_raceline_file(filepath: pathlib.Path, delimiter: str = ";"):
+        """
+        Load raceline from a raceline file.
+
+        Parameters
+        ----------
+        filepath : pathlib.Path
+            path to the raceline file
+        delimiter : str, optional
+            delimiter used in the file, by default ";"
+
+        Returns
+        -------
+        Raceline
+            raceline object
+        """
+        assert filepath.exists(), f"input filepath does not exist ({filepath})"
+        waypoints = np.loadtxt(filepath, delimiter=delimiter).astype(np.float32)
+        assert (
+            waypoints.shape[1] == 7
+        ), "expected waypoints as [s, x, y, psi, k, vx, ax]"
+        return Raceline(
+            ss=waypoints[:, 0],
+            xs=waypoints[:, 1],
+            ys=waypoints[:, 2],
+            psis=waypoints[:, 3],
+            kappas=waypoints[:, 4],
+            velxs=waypoints[:, 5],
+            accxs=waypoints[:, 6],
+        )
+
+    def render_waypoints(self, e: EnvRenderer) -> None:
+        """
+        Callback to render waypoints.
+
+        Parameters
+        ----------
+        e : EnvRenderer
+            Environment renderer object.
+        """
+        points = np.stack([self.xs, self.ys], axis=1)
+        e.render_closed_lines(points, color=(0, 128, 0), size=1)
diff --git a/gym/f110_gym/envs/track/track.py b/gym/f110_gym/envs/track/track.py
new file mode 100644
index 00000000..9163b67a
--- /dev/null
+++ b/gym/f110_gym/envs/track/track.py
@@ -0,0 +1,239 @@
+from __future__ import annotations
+import pathlib
+from dataclasses import dataclass
+from typing import Tuple, Optional
+
+import numpy as np
+import yaml
+from PIL import Image
+from PIL.Image import Transpose
+from yamldataclassconfig.config import YamlDataClassConfig
+
+from f110_gym.envs.track import Raceline
+from f110_gym.envs.track.cubic_spline import CubicSpline2D
+from f110_gym.envs.track.utils import find_track_dir
+
+
+@dataclass
+class TrackSpec(YamlDataClassConfig):
+    name: str
+    image: str
+    resolution: float
+    origin: Tuple[float, float, float]
+    negate: int
+    occupied_thresh: float
+    free_thresh: float
+
+
+@dataclass
+class Track:
+    spec: TrackSpec
+    filepath: str
+    ext: str
+    occupancy_map: np.ndarray
+    centerline: Raceline
+    raceline: Raceline
+
+    def __init__(
+        self,
+        spec: TrackSpec,
+        filepath: str,
+        ext: str,
+        occupancy_map: np.ndarray,
+        centerline: Optional[Raceline] = None,
+        raceline: Optional[Raceline] = None,
+    ):
+        """
+        Initialize track object.
+
+        Parameters
+        ----------
+        spec : TrackSpec
+            track specification
+        filepath : str
+            path to the track image
+        ext : str
+            file extension of the track image file
+        occupancy_map : np.ndarray
+            occupancy grid map
+        centerline : Raceline, optional
+            centerline of the track, by default None
+        raceline : Raceline, optional
+            raceline of the track, by default None
+        """
+        self.spec = spec
+        self.filepath = filepath
+        self.ext = ext
+        self.occupancy_map = occupancy_map
+        self.centerline = centerline
+        self.raceline = raceline
+
+    @staticmethod
+    def load_spec(track: str, filespec: str) -> TrackSpec:
+        """
+        Load track specification from yaml file.
+
+        Parameters
+        ----------
+        track : str
+            name of the track
+        filespec : str
+            path to the yaml file
+
+        Returns
+        -------
+        TrackSpec
+            track specification
+        """
+        with open(filespec, "r") as yaml_stream:
+            map_metadata = yaml.safe_load(yaml_stream)
+            track_spec = TrackSpec(name=track, **map_metadata)
+        return track_spec
+
+    @staticmethod
+    def from_track_name(track: str):
+        """
+        Load track from track name.
+
+        Parameters
+        ----------
+        track : str
+            name of the track
+
+        Returns
+        -------
+        Track
+            track object
+
+        Raises
+        ------
+        FileNotFoundError
+            if the track cannot be loaded
+        """
+        try:
+            track_dir = find_track_dir(track)
+            track_spec = Track.load_spec(
+                track=track, filespec=str(track_dir / f"{track_dir.stem}_map.yaml")
+            )
+
+            # load occupancy grid
+            map_filename = pathlib.Path(track_spec.image)
+            image = Image.open(track_dir / str(map_filename)).transpose(
+                Transpose.FLIP_TOP_BOTTOM
+            )
+            occupancy_map = np.array(image).astype(np.float32)
+            occupancy_map[occupancy_map <= 128] = 0.0
+            occupancy_map[occupancy_map > 128] = 255.0
+
+            # if exists, load centerline
+            if (track_dir / f"{track}_centerline.csv").exists():
+                centerline = Raceline.from_centerline_file(
+                    track_dir / f"{track}_centerline.csv"
+                )
+            else:
+                centerline = None
+
+            # if exists, load raceline
+            if (track_dir / f"{track}_raceline.csv").exists():
+                raceline = Raceline.from_raceline_file(
+                    track_dir / f"{track}_raceline.csv"
+                )
+            else:
+                raceline = centerline
+
+            return Track(
+                spec=track_spec,
+                filepath=str((track_dir / map_filename.stem).absolute()),
+                ext=map_filename.suffix,
+                occupancy_map=occupancy_map,
+                centerline=centerline,
+                raceline=raceline,
+            )
+        except Exception as ex:
+            print(ex)
+            raise FileNotFoundError(f"It could not load track {track}") from ex
+
+    @staticmethod
+    def from_refline(x: np.ndarray, y: np.ndarray, velx: np.ndarray,):
+        """
+        Create an empty track reference line.
+
+        Parameters
+        ----------
+        x : np.ndarray
+            x-coordinates of the waypoints
+        y : np.ndarray
+            y-coordinates of the waypoints
+        velx : np.ndarray
+            velocities at the waypoints
+
+        Returns
+        -------
+        Track
+            track object
+        """
+        ds = 0.1
+        resolution = 0.05
+        margin_perc = 0.1
+
+        spline = CubicSpline2D(x=x, y=y)
+        ss, xs, ys, yaws, ks, vxs = [], [], [], [], [], []
+        for i_s in np.arange(0, spline.s[-1], ds):
+            xi, yi = spline.calc_position(i_s)
+            yaw = spline.calc_yaw(i_s)
+            k = spline.calc_curvature(i_s)
+
+            # find closest waypoint
+            closest = np.argmin(np.hypot(x - xi, y - yi))
+            v = velx[closest]
+
+            xs.append(xi)
+            ys.append(yi)
+            yaws.append(yaw)
+            ks.append(k)
+            ss.append(i_s)
+            vxs.append(v)
+
+        refline = Raceline(
+            ss=np.array(ss).astype(np.float32),
+            xs=np.array(xs).astype(np.float32),
+            ys=np.array(ys).astype(np.float32),
+            psis=np.array(yaws).astype(np.float32),
+            kappas=np.array(ks).astype(np.float32),
+            velxs=np.array(vxs).astype(np.float32),
+            accxs=np.zeros_like(ss).astype(np.float32),
+            spline=spline,
+        )
+
+        min_x, max_x = np.min(xs), np.max(xs)
+        min_y, max_y = np.min(ys), np.max(ys)
+        x_range = max_x - min_x
+        y_range = max_y - min_y
+        occupancy_map = 255.0 * np.ones(
+            (
+                int((1 + 2 * margin_perc) * x_range / resolution),
+                int((1 + 2 * margin_perc) * y_range / resolution),
+            ),
+            dtype=np.float32,
+        )
+        # origin is the bottom left corner
+        origin = (min_x - margin_perc * x_range, min_y - margin_perc * y_range, 0.0)
+
+        track_spec = TrackSpec(
+            name=None,
+            image=None,
+            resolution=resolution,
+            origin=origin,
+            negate=False,
+            occupied_thresh=0.65,
+            free_thresh=0.196,
+        )
+
+        return Track(
+            spec=track_spec,
+            filepath=None,
+            ext=None,
+            occupancy_map=occupancy_map,
+            raceline=refline,
+            centerline=refline,
+        )
diff --git a/gym/f110_gym/envs/track/utils.py b/gym/f110_gym/envs/track/utils.py
new file mode 100644
index 00000000..e3e88a09
--- /dev/null
+++ b/gym/f110_gym/envs/track/utils.py
@@ -0,0 +1,51 @@
+import pathlib
+import tarfile
+import tempfile
+
+import requests
+
+
+def find_track_dir(track_name: str) -> pathlib.Path:
+    """
+    Find the directory of the track map corresponding to the given track name.
+
+    Parameters
+    ----------
+    track_name : str
+        name of the track
+
+    Returns
+    -------
+    pathlib.Path
+        path to the track map directory
+
+    Raises
+    ------
+    FileNotFoundError
+        if no map directory matching the track name is found
+    """
+    map_dir = pathlib.Path(__file__).parent.parent.parent.parent / "maps"
+
+    if not (map_dir / track_name).exists():
+        print("Downloading Files for: " + track_name)
+        tracks_url = "http://api.f1tenth.org/" + track_name + ".tar.xz"
+        tracks_r = requests.get(url=tracks_url, allow_redirects=True)
+        if tracks_r.status_code == 404:
+            raise FileNotFoundError(f"No maps exists for {track_name}.")
+
+        tempdir = tempfile.gettempdir() + "/"
+
+        with open(tempdir + track_name + ".tar.xz", "wb") as f:
+            f.write(tracks_r.content)
+
+        print("Extracting Files for: " + track_name)
+        tracks_file = tarfile.open(tempdir + track_name + ".tar.xz")
+        tracks_file.extractall(map_dir)
+        tracks_file.close()
+
+    # search for map in the map directory
+    for subdir in map_dir.iterdir():
+        if track_name == str(subdir.stem).replace(" ", ""):
+            return subdir
+
+    raise FileNotFoundError(f"no mapdir matching {track_name} in {[map_dir]}")
diff --git a/gym/f110_gym/envs/utils.py b/gym/f110_gym/envs/utils.py
index 2717354c..4bed0ca9 100644
--- a/gym/f110_gym/envs/utils.py
+++ b/gym/f110_gym/envs/utils.py
@@ -1,4 +1,3 @@
-# types
 from typing import Any, Dict, TypeVar
 
 KeyType = TypeVar("KeyType")
diff --git a/tests/test_renderer.py b/tests/test_renderer.py
index b0eda58a..80f98600 100644
--- a/tests/test_renderer.py
+++ b/tests/test_renderer.py
@@ -24,11 +24,7 @@ def _make_env(config={}, render_mode=None) -> F110Env:
         }
         config = deep_update(base_config, config)
 
-        env = gym.make(
-            "f110_gym:f110-v0",
-            config=config,
-            render_mode=render_mode,
-        )
+        env = gym.make("f110_gym:f110-v0", config=config, render_mode=render_mode,)
 
         return env
 
diff --git a/tests/test_scan_sim.py b/tests/test_scan_sim.py
index 3dc859ed..d4d37756 100644
--- a/tests/test_scan_sim.py
+++ b/tests/test_scan_sim.py
@@ -50,7 +50,7 @@ def _test_map_scan(self, map_name: str, debug=False):
         scan_rng = np.random.default_rng(seed=12345)
         scan_sim = ScanSimulator2D(self.num_beams, self.fov)
         new_scan = np.empty((self.num_test, self.num_beams))
-        scan_sim.set_map(map_name=map_name)
+        scan_sim.set_map(map=map_name)
         # scan gen loop
         for i in range(self.num_test):
             test_pose = self.test_poses[i]
@@ -83,7 +83,7 @@ def test_fps(self):
         # scan fps should be greater than 500
         scan_rng = np.random.default_rng(seed=12345)
         scan_sim = ScanSimulator2D(self.num_beams, self.fov)
-        scan_sim.set_map(map_name="Spielberg")
+        scan_sim.set_map(map="Spielberg")
 
         import time