Convert env. calls to unwrapped and use make_vec

examples/run_in_empty_track.py

@@ -31,8 +31,8 @@ def main():
     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)
+    env.unwrapped.add_render_callback(track.raceline.render_waypoints)
+    env.unwrapped.add_render_callback(planner.render_lookahead_point)
 
     # simulation
     obs, info = env.reset()

tests/test_f110_env.py

@@ -38,15 +38,15 @@ def test_configure_method(self):
         # create a base environment and use configure() to change the width
         config_ext = {"params": {"width": 15.0}}
         base_env = self._make_env()
-        base_env.configure(config=config_ext)
+        base_env.unwrapped.configure(config=config_ext)
 
         # create an extended environment, with the width set on initialization
         extended_env = self._make_env(config=config_ext)
 
         # check consistency parameters in config
-        for par in base_env.config["params"]:
-            base_val = base_env.config["params"][par]
-            extended_val = extended_env.config["params"][par]
+        for par in base_env.unwrapped.config["params"]:
+            base_val = base_env.unwrapped.config["params"][par]
+            extended_val = extended_env.unwrapped.config["params"][par]
 
             self.assertEqual(base_val, extended_val, f"{par} should be the same")
 
@@ -104,7 +104,7 @@ def test_configure_action_space(self):
         new_v_max = 5.0
         params["v_max"] = new_v_max
 
-        base_env.configure(config={"params": params})
+        base_env.unwrapped.configure(config={"params": params})
         new_action_space_low = base_env.action_space.low
         new_action_space_high = base_env.action_space.high
 
@@ -156,7 +156,7 @@ def test_manual_reset_options_in_synch_vec_env(self):
             "num_agents": num_agents,
             "observation_config": {"type": "kinematic_state"},
         }
-        vec_env = gym.vector.make(
+        vec_env = gym.make_vec(
             "f1tenth_gym:f1tenth-v0", asynchronous=False, config=config, num_envs=num_envs
         )