example: close env in video recording to save trigger saving video.

f110 env: set render-fps to match integrator timestep to match real time in human/rgb-array render mode.
refactoring config files renderer

examples/video_recording.py

@@ -12,7 +12,7 @@ def main():
         "lf": 0.15597534362552312,
         "tlad": 0.82461887897713965,
         "vgain": 1,
-    }  # 0.90338203837889}
+    }
 
     env = gym.make(
         "f110_gym:f110-v0",
@@ -69,6 +69,9 @@ def main():
 
     print("Sim elapsed time:", laptime, "Real elapsed time:", time.time() - start)
 
+    # close env to trigger video saving
+    env.close()
+
 
 if __name__ == "__main__":
     main()

gym/f110_gym/envs/f110_env.py

@@ -165,6 +165,9 @@ def __init__(self, config: dict = None, render_mode=None, **kwargs):
         # add choice of colors (same, random, ...)
         self.render_obs = None
         self.render_mode = render_mode
+
+        # match render_fps to integration timestep
+        self.metadata["render_fps"] = int(1.0 / self.timestep)
         if self.render_mode == "human_fast":
             self.metadata["render_fps"] *= 10   # boost fps by 10x
         self.renderer, self.render_spec = make_renderer(

gym/f110_gym/envs/rendering/rendering.yaml

@@ -1,5 +1,5 @@
-window_size: 1000     # [px] width and height of the window
-focus_on: null        # [str] agent id to focus on (e.g., agent_0) or null for map view
+window_size: 800      # [px] width and height of the window
+focus_on: agent_0     # [str] agent id to focus on (e.g., agent_0) or null for map view
 zoom_in_factor: 1.5   # [float] zoom in factor. 1.0 is no zoom, >1.0 is zoom in, <1.0 is zoom out
 show_wheels: True     # [bool] it toggles the visualization of the vehicle wheels
 car_tickness: 1       # [px] thickness of the car