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zXV3e|dagxv&FUyBDjwgzbp9OOE0AjjOCo@(;=q39g6(rl_|-Xmj(}y_$ND_V{*S`| zFNCoo&R}s{-^L~nP(G^Z4gK8i#x&~F%TuiY7=`JrLsySN7`UaVZwx^+a8KQJ_lLzM zh{EG6uH;{kfbWhrA_C)fz6O51|Fiujj0<%bUF_GQr>7U^f3S^xlJSV-62dCKHxt>q z>XG0%>CL~Q-P{!`8nQ2BTGKZ(Hx~~c533Y%ku{~)+E32>`9Y=9B|N#%5et@Gj%>Rq z;kM9cvZUQ?)fIy!)q5sLSoi!jn~+HrVboq~b1uP=4VgQ2jf{`@F80P}d$>PKy&G^I zvM2E#a?*bXp{u9&?9ByM%cbSzaIrzL;qM};EJ%W5z$SZSLV_K~#SknwLL9>f2I6v_ z-J@dU!{Dlv=b9;!Fr*Zo;=6V)^1}xUaI}KG?_HKxRCJMj8q9#&UKvAu`}0NXtP9qA za}Eo_8O!~I(Z#$s7{WezS;-$HPfKQD<7agAY|nIbb-O+B2ME`x&%q_ma!0#J2_SBf z7>p%#T`?jETi~bm_r{ug7y@^dB4cB%!Kzqg+;YK`F1Hf_594!t>8>n|$%2Q!3qaL6 z!^eP diff --git a/_modules/highway_env/__init__/index.html b/_modules/highway_env/__init__/index.html index f3790bf8b..b0d24ff42 100644 --- a/_modules/highway_env/__init__/index.html +++ b/_modules/highway_env/__init__/index.html @@ -296,7 +296,8 @@

Source code for highway_env.__init__

 
 from gymnasium.envs.registration import register
 
-__version__ = "1.10.0"
+
+__version__ = "1.10.1"
 
 try:
     from farama_notifications import notifications
diff --git a/_modules/highway_env/envs/common/abstract/index.html b/_modules/highway_env/envs/common/abstract/index.html
index f809c24b7..df2252a62 100644
--- a/_modules/highway_env/envs/common/abstract/index.html
+++ b/_modules/highway_env/envs/common/abstract/index.html
@@ -291,9 +291,11 @@
           

             
             
Source code for highway_env.envs.common.abstract
-import copy
+from __future__ import annotations
+
+import copy
 import os
-from typing import Dict, List, Optional, Text, Tuple, TypeVar
+from typing import TypeVar
 
 import gymnasium as gym
 import numpy as np
@@ -309,13 +311,13 @@ 
Source code for highway_env.envs.common.abstract

 from highway_env.vehicle.behavior import IDMVehicle
 from highway_env.vehicle.kinematics import Vehicle
 
+
 Observation = TypeVar("Observation")
 
 
 

 [docs]
 class AbstractEnv(gym.Env):
-
     """
     A generic environment for various tasks involving a vehicle driving on a road.
 
@@ -326,7 +328,7 @@ 
Source code for highway_env.envs.common.abstract

 
     observation_type: ObservationType
     action_type: ActionType
-    _record_video_wrapper: Optional[RecordVideo]
+    _record_video_wrapper: RecordVideo | None
     metadata = {
         "render_modes": ["human", "rgb_array"],
     }
@@ -334,7 +336,7 @@ 
Source code for highway_env.envs.common.abstract

     PERCEPTION_DISTANCE = 5.0 * Vehicle.MAX_SPEED
     """The maximum distance of any vehicle present in the observation [m]"""
 
-    def __init__(self, config: dict = None, render_mode: Optional[str] = None) -> None:
+    def __init__(self, config: dict = None, render_mode: str | None = None) -> None:
         super().__init__()
 
         # Configuration
@@ -442,7 +444,7 @@ 
Source code for highway_env.envs.common.abstract

 
 

 [docs]
-    def _rewards(self, action: Action) -> Dict[Text, float]:
+    def _rewards(self, action: Action) -> dict[str, float]:
         """
         Returns a multi-objective vector of rewards.
 
@@ -479,7 +481,7 @@ 
Source code for highway_env.envs.common.abstract

 
 

 [docs]
-    def _info(self, obs: Observation, action: Optional[Action] = None) -> dict:
+    def _info(self, obs: Observation, action: Action | None = None) -> dict:
         """
         Return a dictionary of additional information
 
@@ -504,9 +506,9 @@ 
Source code for highway_env.envs.common.abstract

     def reset(
         self,
         *,
-        seed: Optional[int] = None,
-        options: Optional[dict] = None,
-    ) -> Tuple[Observation, dict]:
+        seed: int | None = None,
+        options: dict | None = None,
+    ) -> tuple[Observation, dict]:
         """
         Reset the environment to it's initial configuration
 
@@ -543,7 +545,7 @@ 
Source code for highway_env.envs.common.abstract

 
 

 [docs]
-    def step(self, action: Action) -> Tuple[Observation, float, bool, bool, dict]:
+    def step(self, action: Action) -> tuple[Observation, float, bool, bool, dict]:
         """
         Perform an action and step the environment dynamics.
 
@@ -574,7 +576,7 @@ 
Source code for highway_env.envs.common.abstract

 
 

 [docs]
-    def _simulate(self, action: Optional[Action] = None) -> None:
+    def _simulate(self, action: Action | None = None) -> None:
         """Perform several steps of simulation with constant action."""
         frames = int(
             self.config["simulation_frequency"] // self.config["policy_frequency"]
@@ -609,7 +611,7 @@ 
Source code for highway_env.envs.common.abstract

 
 

 [docs]
-    def render(self) -> Optional[np.ndarray]:
+    def render(self) -> np.ndarray | None:
         """
         Render the environment.
 
@@ -651,7 +653,7 @@ 
Source code for highway_env.envs.common.abstract

         self.viewer = None

 
 
-    def get_available_actions(self) -> List[int]:
+    def get_available_actions(self) -> list[int]:
         return self.action_type.get_available_actions()
 
     def set_record_video_wrapper(self, wrapper: RecordVideo):
@@ -676,7 +678,7 @@ 
Source code for highway_env.envs.common.abstract

 
 

 [docs]
-    def simplify(self) -> "AbstractEnv":
+    def simplify(self) -> AbstractEnv:
         """
         Return a simplified copy of the environment where distant vehicles have been removed from the road.
 
@@ -696,7 +698,7 @@ 
Source code for highway_env.envs.common.abstract

 
 

 [docs]
-    def change_vehicles(self, vehicle_class_path: str) -> "AbstractEnv":
+    def change_vehicles(self, vehicle_class_path: str) -> AbstractEnv:
         """
         Change the type of all vehicles on the road
 
@@ -714,7 +716,7 @@ 
Source code for highway_env.envs.common.abstract

         return env_copy

 
 
-    def set_preferred_lane(self, preferred_lane: int = None) -> "AbstractEnv":
+    def set_preferred_lane(self, preferred_lane: int = None) -> AbstractEnv:
         env_copy = copy.deepcopy(self)
         if preferred_lane:
             for v in env_copy.road.vehicles:
@@ -724,14 +726,14 @@ 
Source code for highway_env.envs.common.abstract

                     v.LANE_CHANGE_MAX_BRAKING_IMPOSED = 1000
         return env_copy
 
-    def set_route_at_intersection(self, _to: str) -> "AbstractEnv":
+    def set_route_at_intersection(self, _to: str) -> AbstractEnv:
         env_copy = copy.deepcopy(self)
         for v in env_copy.road.vehicles:
             if isinstance(v, IDMVehicle):
                 v.set_route_at_intersection(_to)
         return env_copy
 
-    def set_vehicle_field(self, args: Tuple[str, object]) -> "AbstractEnv":
+    def set_vehicle_field(self, args: tuple[str, object]) -> AbstractEnv:
         field, value = args
         env_copy = copy.deepcopy(self)
         for v in env_copy.road.vehicles:
@@ -739,7 +741,7 @@ 
Source code for highway_env.envs.common.abstract

                 setattr(v, field, value)
         return env_copy
 
-    def call_vehicle_method(self, args: Tuple[str, Tuple[object]]) -> "AbstractEnv":
+    def call_vehicle_method(self, args: tuple[str, tuple[object]]) -> AbstractEnv:
         method, method_args = args
         env_copy = copy.deepcopy(self)
         for i, v in enumerate(env_copy.road.vehicles):
@@ -747,7 +749,7 @@ 
Source code for highway_env.envs.common.abstract

                 env_copy.road.vehicles[i] = getattr(v, method)(*method_args)
         return env_copy
 
-    def randomize_behavior(self) -> "AbstractEnv":
+    def randomize_behavior(self) -> AbstractEnv:
         env_copy = copy.deepcopy(self)
         for v in env_copy.road.vehicles:
             if isinstance(v, IDMVehicle):
diff --git a/_modules/highway_env/envs/common/action/index.html b/_modules/highway_env/envs/common/action/index.html
index ad14f4c67..6c091d984 100644
--- a/_modules/highway_env/envs/common/action/index.html
+++ b/_modules/highway_env/envs/common/action/index.html
@@ -291,9 +291,11 @@
           

             
             
Source code for highway_env.envs.common.action
-import functools
+from __future__ import annotations
+
+import functools
 import itertools
-from typing import TYPE_CHECKING, Callable, List, Optional, Tuple, Union
+from typing import TYPE_CHECKING, Callable, Union
 
 import numpy as np
 from gymnasium import spaces
@@ -304,6 +306,7 @@ 
Source code for highway_env.envs.common.action
from highway_env.vehicle.dynamics import BicycleVehicle
 from highway_env.vehicle.kinematics import Vehicle
 
+
 if TYPE_CHECKING:
     from highway_env.envs.common.abstract import AbstractEnv
 
@@ -312,11 +315,10 @@ 
Source code for highway_env.envs.common.action

 [docs]
-class ActionType(object):
-
+class ActionType:
     """A type of action specifies its definition space, and how actions are executed in the environment"""
 
-    def __init__(self, env: "AbstractEnv", **kwargs) -> None:
+    def __init__(self, env: AbstractEnv, **kwargs) -> None:
         self.env = env
         self.__controlled_vehicle = None
 
@@ -376,7 +378,6 @@ 
Source code for highway_env.envs.common.action

 [docs]
 class ContinuousAction(ActionType):
-
     """
     An continuous action space for throttle and/or steering angle.
 
@@ -393,10 +394,10 @@ 
Source code for highway_env.envs.common.action
def __init__(
         self,
-        env: "AbstractEnv",
-        acceleration_range: Optional[Tuple[float, float]] = None,
-        steering_range: Optional[Tuple[float, float]] = None,
-        speed_range: Optional[Tuple[float, float]] = None,
+        env: AbstractEnv,
+        acceleration_range: tuple[float, float] | None = None,
+        steering_range: tuple[float, float] | None = None,
+        speed_range: tuple[float, float] | None = None,
         longitudinal: bool = True,
         lateral: bool = True,
         dynamical: bool = False,
@@ -480,9 +481,9 @@ 
Source code for highway_env.envs.common.action
class DiscreteAction(ContinuousAction):
     def __init__(
         self,
-        env: "AbstractEnv",
-        acceleration_range: Optional[Tuple[float, float]] = None,
-        steering_range: Optional[Tuple[float, float]] = None,
+        env: AbstractEnv,
+        acceleration_range: tuple[float, float] | None = None,
+        steering_range: tuple[float, float] | None = None,
         longitudinal: bool = True,
         lateral: bool = True,
         dynamical: bool = False,
@@ -521,7 +522,6 @@ 
Source code for highway_env.envs.common.action

 [docs]
 class DiscreteMetaAction(ActionType):
-
     """
     An discrete action space of meta-actions: lane changes, and cruise control set-point.
     """
@@ -537,10 +537,10 @@ 
Source code for highway_env.envs.common.action
def __init__(
         self,
-        env: "AbstractEnv",
+        env: AbstractEnv,
         longitudinal: bool = True,
         lateral: bool = True,
-        target_speeds: Optional[Vector] = None,
+        target_speeds: Vector | None = None,
         **kwargs,
     ) -> None:
         """
@@ -562,11 +562,11 @@ 
Source code for highway_env.envs.common.action
self.actions = (
             self.ACTIONS_ALL
             if longitudinal and lateral
-            else self.ACTIONS_LONGI
-            if longitudinal
-            else self.ACTIONS_LAT
-            if lateral
-            else None
+            else (
+                self.ACTIONS_LONGI
+                if longitudinal
+                else self.ACTIONS_LAT if lateral else None
+            )
         )
         if self.actions is None:
             raise ValueError(
@@ -586,13 +586,13 @@ 
Source code for highway_env.envs.common.action

 [docs]
-    def act(self, action: Union[int, np.ndarray]) -> None:
+    def act(self, action: int | np.ndarray) -> None:
         self.controlled_vehicle.act(self.actions[int(action)])

 
 
 

 [docs]
-    def get_available_actions(self) -> List[int]:
+    def get_available_actions(self) -> list[int]:
         """
         Get the list of currently available actions.
 
@@ -636,7 +636,7 @@ 
Source code for highway_env.envs.common.action

 [docs]
 class MultiAgentAction(ActionType):
-    def __init__(self, env: "AbstractEnv", action_config: dict, **kwargs) -> None:
+    def __init__(self, env: AbstractEnv, action_config: dict, **kwargs) -> None:
         super().__init__(env)
         self.action_config = action_config
         self.agents_action_types = []
@@ -678,7 +678,7 @@ 
Source code for highway_env.envs.common.action
def action_factory(env: "AbstractEnv", config: dict) -> ActionType:
+def action_factory(env: AbstractEnv, config: dict) -> ActionType:
     if config["type"] == "ContinuousAction":
         return ContinuousAction(env, **config)
     if config["type"] == "DiscreteAction":
diff --git a/_modules/highway_env/envs/common/graphics/index.html b/_modules/highway_env/envs/common/graphics/index.html
index 361740f51..4653e5781 100644
--- a/_modules/highway_env/envs/common/graphics/index.html
+++ b/_modules/highway_env/envs/common/graphics/index.html
@@ -291,8 +291,10 @@
           

             
             
Source code for highway_env.envs.common.graphics
-import os
-from typing import TYPE_CHECKING, Callable, List, Optional
+from __future__ import annotations
+
+import os
+from typing import TYPE_CHECKING, Callable
 
 import numpy as np
 import pygame
@@ -305,6 +307,7 @@ 
Source code for highway_env.envs.common.graphics

 from highway_env.road.graphics import RoadGraphics, WorldSurface
 from highway_env.vehicle.graphics import VehicleGraphics
 
+
 if TYPE_CHECKING:
     from highway_env.envs import AbstractEnv
     from highway_env.envs.common.abstract import Action
@@ -312,14 +315,13 @@ 
Source code for highway_env.envs.common.graphics

 
 

 [docs]
-class EnvViewer(object):
-
+class EnvViewer:
     """A viewer to render a highway driving environment."""
 
     SAVE_IMAGES = False
     agent_display = None
 
-    def __init__(self, env: "AbstractEnv", config: Optional[dict] = None) -> None:
+    def __init__(self, env: AbstractEnv, config: dict | None = None) -> None:
         self.env = env
         self.config = config or env.config
         self.offscreen = self.config["offscreen_rendering"]
@@ -386,7 +388,7 @@ 
Source code for highway_env.envs.common.graphics

 
 

 [docs]
-    def set_agent_action_sequence(self, actions: List["Action"]) -> None:
+    def set_agent_action_sequence(self, actions: list[Action]) -> None:
         """
         Set the sequence of actions chosen by the agent, so that it can be displayed
 
@@ -466,7 +468,7 @@ 
Source code for highway_env.envs.common.graphics

         if self.SAVE_IMAGES and self.directory:
             pygame.image.save(
                 self.sim_surface,
-                str(self.directory / "highway-env_{}.png".format(self.frame)),
+                str(self.directory / f"highway-env_{self.frame}.png"),
             )
             self.frame += 1

 
@@ -509,7 +511,7 @@ 
Source code for highway_env.envs.common.graphics

 
 
 
-class EventHandler(object):
+class EventHandler:
     @classmethod
     def handle_event(
         cls, action_type: ActionType, event: pygame.event.EventType
@@ -566,7 +568,7 @@ 
Source code for highway_env.envs.common.graphics

         action_type.act(action)
 
 
-class ObservationGraphics(object):
+class ObservationGraphics:
     COLOR = (0, 0, 0)
 
     @classmethod
diff --git a/_modules/highway_env/envs/common/observation/index.html b/_modules/highway_env/envs/common/observation/index.html
index 59a45f30e..921038a9d 100644
--- a/_modules/highway_env/envs/common/observation/index.html
+++ b/_modules/highway_env/envs/common/observation/index.html
@@ -291,9 +291,11 @@
           

             
             
Source code for highway_env.envs.common.observation
-from collections import OrderedDict
+from __future__ import annotations
+
+from collections import OrderedDict
 from itertools import product
-from typing import TYPE_CHECKING, Dict, List, Optional, Tuple
+from typing import TYPE_CHECKING
 
 import numpy as np
 import pandas as pd
@@ -306,12 +308,13 @@ 
Source code for highway_env.envs.common.observation
from highway_env.utils import Vector
 from highway_env.vehicle.kinematics import Vehicle
 
+
 if TYPE_CHECKING:
     from highway_env.envs.common.abstract import AbstractEnv
 
 
-class ObservationType(object):
-    def __init__(self, env: "AbstractEnv", **kwargs) -> None:
+class ObservationType:
+    def __init__(self, env: AbstractEnv, **kwargs) -> None:
         self.env = env
         self.__observer_vehicle = None
 
@@ -340,7 +343,6 @@ 
Source code for highway_env.envs.common.observation

 [docs]
 class GrayscaleObservation(ObservationType):
-
     """
     An observation class that collects directly what the simulator renders.
 
@@ -359,12 +361,12 @@ 
Source code for highway_env.envs.common.observation
def __init__(
         self,
-        env: "AbstractEnv",
-        observation_shape: Tuple[int, int],
+        env: AbstractEnv,
+        observation_shape: tuple[int, int],
         stack_size: int,
-        weights: List[float],
-        scaling: Optional[float] = None,
-        centering_position: Optional[List[float]] = None,
+        weights: list[float],
+        scaling: float | None = None,
+        centering_position: list[float] | None = None,
         **kwargs,
     ) -> None:
         super().__init__(env)
@@ -412,7 +414,7 @@ 
Source code for highway_env.envs.common.observation
class TimeToCollisionObservation(ObservationType):
-    def __init__(self, env: "AbstractEnv", horizon: int = 10, **kwargs: dict) -> None:
+    def __init__(self, env: AbstractEnv, horizon: int = 10, **kwargs: dict) -> None:
         super().__init__(env)
         self.horizon = horizon
 
@@ -454,17 +456,16 @@ 
Source code for highway_env.envs.common.observation

 [docs]
 class KinematicObservation(ObservationType):
-
     """Observe the kinematics of nearby vehicles."""
 
-    FEATURES: List[str] = ["presence", "x", "y", "vx", "vy"]
+    FEATURES: list[str] = ["presence", "x", "y", "vx", "vy"]
 
     def __init__(
         self,
-        env: "AbstractEnv",
-        features: List[str] = None,
+        env: AbstractEnv,
+        features: list[str] = None,
         vehicles_count: int = 5,
-        features_range: Dict[str, List[float]] = None,
+        features_range: dict[str, list[float]] = None,
         absolute: bool = False,
         order: str = "sorted",
         normalize: bool = True,
@@ -591,20 +592,19 @@ 
Source code for highway_env.envs.common.observation

 [docs]
 class OccupancyGridObservation(ObservationType):
-
     """Observe an occupancy grid of nearby vehicles."""
 
-    FEATURES: List[str] = ["presence", "vx", "vy", "on_road"]
-    GRID_SIZE: List[List[float]] = [[-5.5 * 5, 5.5 * 5], [-5.5 * 5, 5.5 * 5]]
-    GRID_STEP: List[int] = [5, 5]
+    FEATURES: list[str] = ["presence", "vx", "vy", "on_road"]
+    GRID_SIZE: list[list[float]] = [[-5.5 * 5, 5.5 * 5], [-5.5 * 5, 5.5 * 5]]
+    GRID_STEP: list[int] = [5, 5]
 
     def __init__(
         self,
-        env: "AbstractEnv",
-        features: Optional[List[str]] = None,
-        grid_size: Optional[Tuple[Tuple[float, float], Tuple[float, float]]] = None,
-        grid_step: Optional[Tuple[float, float]] = None,
-        features_range: Dict[str, List[float]] = None,
+        env: AbstractEnv,
+        features: list[str] | None = None,
+        grid_size: tuple[tuple[float, float], tuple[float, float]] | None = None,
+        grid_step: tuple[float, float] | None = None,
+        features_range: dict[str, list[float]] = None,
         absolute: bool = False,
         align_to_vehicle_axes: bool = False,
         clip: bool = True,
@@ -738,7 +738,7 @@ 
Source code for highway_env.envs.common.observation

 [docs]
-    def pos_to_index(self, position: Vector, relative: bool = False) -> Tuple[int, int]:
+    def pos_to_index(self, position: Vector, relative: bool = False) -> tuple[int, int]:
         """
         Convert a world position to a grid cell index
 
@@ -761,7 +761,7 @@ 
Source code for highway_env.envs.common.observation
)

 
 
-    def index_to_pos(self, index: Tuple[int, int]) -> np.ndarray:
+    def index_to_pos(self, index: tuple[int, int]) -> np.ndarray:
         position = np.array(
             [
                 (index[0] + 0.5) * self.grid_step[0] + self.grid_size[0, 0],
@@ -836,7 +836,7 @@ 
Source code for highway_env.envs.common.observation

 [docs]
 class KinematicsGoalObservation(KinematicObservation):
-    def __init__(self, env: "AbstractEnv", scales: List[float], **kwargs: dict) -> None:
+    def __init__(self, env: AbstractEnv, scales: list[float], **kwargs: dict) -> None:
         self.scales = np.array(scales)
         super().__init__(env, **kwargs)
 
@@ -873,7 +873,7 @@ 
Source code for highway_env.envs.common.observation

 [docs]
-    def observe(self) -> Dict[str, np.ndarray]:
+    def observe(self) -> dict[str, np.ndarray]:
         if not self.observer_vehicle:
             return OrderedDict(
                 [
@@ -904,9 +904,7 @@ 
Source code for highway_env.envs.common.observation
class AttributesObservation(ObservationType):
-    def __init__(
-        self, env: "AbstractEnv", attributes: List[str], **kwargs: dict
-    ) -> None:
+    def __init__(self, env: AbstractEnv, attributes: list[str], **kwargs: dict) -> None:
         self.env = env
         self.attributes = attributes
 
@@ -924,14 +922,14 @@ 
Source code for highway_env.envs.common.observation
except AttributeError:
             return spaces.Space()
 
-    def observe(self) -> Dict[str, np.ndarray]:
+    def observe(self) -> dict[str, np.ndarray]:
         return OrderedDict(
             [(attribute, getattr(self.env, attribute)) for attribute in self.attributes]
         )
 
 
 class MultiAgentObservation(ObservationType):
-    def __init__(self, env: "AbstractEnv", observation_config: dict, **kwargs) -> None:
+    def __init__(self, env: AbstractEnv, observation_config: dict, **kwargs) -> None:
         super().__init__(env)
         self.observation_config = observation_config
         self.agents_observation_types = []
@@ -951,7 +949,7 @@ 
Source code for highway_env.envs.common.observation
class TupleObservation(ObservationType):
     def __init__(
-        self, env: "AbstractEnv", observation_configs: List[dict], **kwargs
+        self, env: AbstractEnv, observation_configs: list[dict], **kwargs
     ) -> None:
         super().__init__(env)
         self.observation_types = [
@@ -969,7 +967,6 @@ 
Source code for highway_env.envs.common.observation

 [docs]
 class ExitObservation(KinematicObservation):
-
     """Specific to exit_env, observe the distance to the next exit lane as part of a KinematicObservation."""
 
 

@@ -1121,7 +1118,7 @@ 
Source code for highway_env.envs.common.observation
return np.array([np.cos(index * self.angle), np.sin(index * self.angle)])
 
 
-def observation_factory(env: "AbstractEnv", config: dict) -> ObservationType:
+def observation_factory(env: AbstractEnv, config: dict) -> ObservationType:
     if config["type"] == "TimeToCollision":
         return TimeToCollisionObservation(env, **config)
     elif config["type"] == "Kinematics":
diff --git a/_modules/highway_env/envs/highway_env/index.html b/_modules/highway_env/envs/highway_env/index.html
index 734631e06..bffae67d0 100644
--- a/_modules/highway_env/envs/highway_env/index.html
+++ b/_modules/highway_env/envs/highway_env/index.html
@@ -291,7 +291,7 @@
           

             
             
Source code for highway_env.envs.highway_env
-from typing import Dict, Text
+from __future__ import annotations
 
 import numpy as np
 
@@ -303,6 +303,7 @@ 
Source code for highway_env.envs.highway_env
from highway_env.vehicle.controller import ControlledVehicle
 from highway_env.vehicle.kinematics import Vehicle
 
+
 Observation = np.ndarray
 
 
@@ -412,7 +413,7 @@ 
Source code for highway_env.envs.highway_env
reward *= rewards["on_road_reward"]
         return reward
 
-    def _rewards(self, action: Action) -> Dict[Text, float]:
+    def _rewards(self, action: Action) -> dict[str, float]:
         neighbours = self.road.network.all_side_lanes(self.vehicle.lane_index)
         lane = (
             self.vehicle.target_lane_index[2]
diff --git a/_modules/highway_env/envs/intersection_env/index.html b/_modules/highway_env/envs/intersection_env/index.html
index 946c15432..0755f0ad7 100644
--- a/_modules/highway_env/envs/intersection_env/index.html
+++ b/_modules/highway_env/envs/intersection_env/index.html
@@ -291,7 +291,7 @@
           

             
             
Source code for highway_env.envs.intersection_env
-from typing import Dict, Text, Tuple
+from __future__ import annotations
 
 import numpy as np
 
@@ -306,7 +306,7 @@ 
Source code for highway_env.envs.intersection_env

 [docs]
 class IntersectionEnv(AbstractEnv):
-    ACTIONS: Dict[int, str] = {0: "SLOWER", 1: "IDLE", 2: "FASTER"}
+    ACTIONS: dict[int, str] = {0: "SLOWER", 1: "IDLE", 2: "FASTER"}
     ACTIONS_INDEXES = {v: k for k, v in ACTIONS.items()}
 
 

@@ -362,7 +362,7 @@ 
Source code for highway_env.envs.intersection_env
self._agent_reward(action, vehicle) for vehicle in self.controlled_vehicles
         ) / len(self.controlled_vehicles)
 
-    def _rewards(self, action: int) -> Dict[Text, float]:
+    def _rewards(self, action: int) -> dict[str, float]:
         """Multi-objective rewards, for cooperative agents."""
         agents_rewards = [
             self._agent_rewards(action, vehicle) for vehicle in self.controlled_vehicles
@@ -389,7 +389,7 @@ 
Source code for highway_env.envs.intersection_env
)
         return reward
 
-    def _agent_rewards(self, action: int, vehicle: Vehicle) -> Dict[Text, float]:
+    def _agent_rewards(self, action: int, vehicle: Vehicle) -> dict[str, float]:
         """Per-agent per-objective reward signal."""
         scaled_speed = utils.lmap(
             vehicle.speed, self.config["reward_speed_range"], [0, 1]
@@ -432,7 +432,7 @@ 
Source code for highway_env.envs.intersection_env

 [docs]
-    def step(self, action: int) -> Tuple[np.ndarray, float, bool, bool, dict]:
+    def step(self, action: int) -> tuple[np.ndarray, float, bool, bool, dict]:
         obs, reward, terminated, truncated, info = super().step(action)
         self._clear_vehicles()
         self._spawn_vehicle(spawn_probability=self.config["spawn_probability"])
@@ -587,7 +587,7 @@ 
Source code for highway_env.envs.intersection_env
self.controlled_vehicles = []
         for ego_id in range(0, self.config["controlled_vehicles"]):
             ego_lane = self.road.network.get_lane(
-                ("o{}".format(ego_id % 4), "ir{}".format(ego_id % 4), 0)
+                (f"o{ego_id % 4}", f"ir{ego_id % 4}", 0)
             )
             destination = self.config["destination"] or "o" + str(
                 self.np_random.integers(1, 4)
diff --git a/_modules/highway_env/envs/merge_env/index.html b/_modules/highway_env/envs/merge_env/index.html
index e0cd99d97..ed35c13bb 100644
--- a/_modules/highway_env/envs/merge_env/index.html
+++ b/_modules/highway_env/envs/merge_env/index.html
@@ -291,7 +291,7 @@
           

             
             
Source code for highway_env.envs.merge_env
-from typing import Dict, Text
+from __future__ import annotations
 
 import numpy as np
 
@@ -306,7 +306,6 @@ 
Source code for highway_env.envs.merge_env
 

 [docs]
 class MergeEnv(AbstractEnv):
-
     """
     A highway merge negotiation environment.
 
@@ -355,7 +354,7 @@ 
Source code for highway_env.envs.merge_env
             [0, 1],
         )
 
-    def _rewards(self, action: int) -> Dict[Text, float]:
+    def _rewards(self, action: int) -> dict[str, float]:
         scaled_speed = utils.lmap(
             self.vehicle.speed, self.config["reward_speed_range"], [0, 1]
         )
diff --git a/_modules/highway_env/envs/parking_env/index.html b/_modules/highway_env/envs/parking_env/index.html
index cbf59982c..f1ee4a1ab 100644
--- a/_modules/highway_env/envs/parking_env/index.html
+++ b/_modules/highway_env/envs/parking_env/index.html
@@ -291,8 +291,9 @@
           

             
             
Source code for highway_env.envs.parking_env
-from abc import abstractmethod
-from typing import Optional
+from __future__ import annotations
+
+from abc import abstractmethod
 
 import numpy as np
 from gymnasium import Env
@@ -372,7 +373,7 @@ 
Source code for highway_env.envs.parking_env
}
     }
 
-    def __init__(self, config: dict = None, render_mode: Optional[str] = None) -> None:
+    def __init__(self, config: dict = None, render_mode: str | None = None) -> None:
         super().__init__(config, render_mode)
         self.observation_type_parking = None
 
@@ -422,7 +423,7 @@ 
Source code for highway_env.envs.parking_env
def _info(self, obs, action) -> dict:
-        info = super(ParkingEnv, self)._info(obs, action)
+        info = super()._info(obs, action)
         if isinstance(self.observation_type, MultiAgentObservation):
             success = tuple(
                 self._is_success(agent_obs["achieved_goal"], agent_obs["desired_goal"])
diff --git a/_modules/highway_env/envs/racetrack_env/index.html b/_modules/highway_env/envs/racetrack_env/index.html
index af57a7fa9..edd70d9d6 100644
--- a/_modules/highway_env/envs/racetrack_env/index.html
+++ b/_modules/highway_env/envs/racetrack_env/index.html
@@ -291,7 +291,7 @@
           

             
             
Source code for highway_env.envs.racetrack_env
-from typing import Dict, Text
+from __future__ import annotations
 
 import numpy as np
 
@@ -363,7 +363,7 @@ 
Source code for highway_env.envs.racetrack_env
reward *= rewards["on_road_reward"]
         return reward
 
-    def _rewards(self, action: np.ndarray) -> Dict[Text, float]:
+    def _rewards(self, action: np.ndarray) -> dict[str, float]:
         _, lateral = self.vehicle.lane.local_coordinates(self.vehicle.position)
         return {
             "lane_centering_reward": 1
diff --git a/_modules/highway_env/envs/roundabout_env/index.html b/_modules/highway_env/envs/roundabout_env/index.html
index 49ade235e..3fe3cc605 100644
--- a/_modules/highway_env/envs/roundabout_env/index.html
+++ b/_modules/highway_env/envs/roundabout_env/index.html
@@ -291,7 +291,7 @@
           

             
             
Source code for highway_env.envs.roundabout_env
-from typing import Dict, Text
+from __future__ import annotations
 
 import numpy as np
 
@@ -352,7 +352,7 @@ 
Source code for highway_env.envs.roundabout_env
<
         reward *= rewards["on_road_reward"]
         return reward
 
-    def _rewards(self, action: int) -> Dict[Text, float]:
+    def _rewards(self, action: int) -> dict[str, float]:
         return {
             "collision_reward": self.vehicle.crashed,
             "high_speed_reward": MDPVehicle.get_speed_index(self.vehicle)
diff --git a/_modules/highway_env/road/graphics/index.html b/_modules/highway_env/road/graphics/index.html
index c8cafe886..233dc187f 100644
--- a/_modules/highway_env/road/graphics/index.html
+++ b/_modules/highway_env/road/graphics/index.html
@@ -291,7 +291,9 @@
           

             
             
Source code for highway_env.road.graphics
-from typing import TYPE_CHECKING, List, Tuple, Union
+from __future__ import annotations
+
+from typing import TYPE_CHECKING, Tuple, Union
 
 import numpy as np
 import pygame
@@ -302,6 +304,7 @@ 
Source code for highway_env.road.graphics
 from highway_env.vehicle.graphics import VehicleGraphics
 from highway_env.vehicle.objects import Landmark, Obstacle
 
+
 if TYPE_CHECKING:
     from highway_env.vehicle.objects import RoadObject
 
@@ -311,7 +314,6 @@ 
Source code for highway_env.road.graphics
 

 [docs]
 class WorldSurface(pygame.Surface):
-
     """A pygame Surface implementing a local coordinate system so that we can move and zoom in the displayed area."""
 
     BLACK = (0, 0, 0)
@@ -325,7 +327,7 @@ 
Source code for highway_env.road.graphics
     MOVING_FACTOR = 0.1
 
     def __init__(
-        self, size: Tuple[int, int], flags: object, surf: pygame.SurfaceType
+        self, size: tuple[int, int], flags: object, surf: pygame.SurfaceType
     ) -> None:
         super().__init__(size, flags, surf)
         self.origin = np.array([0, 0])
@@ -346,7 +348,7 @@ 
Source code for highway_env.road.graphics
 
 

 [docs]
-    def pos2pix(self, x: float, y: float) -> Tuple[int, int]:
+    def pos2pix(self, x: float, y: float) -> tuple[int, int]:
         """
         Convert two world coordinates [m] into a position in the surface [px]
 
@@ -359,7 +361,7 @@ 
Source code for highway_env.road.graphics
 
 

 [docs]
-    def vec2pix(self, vec: PositionType) -> Tuple[int, int]:
+    def vec2pix(self, vec: PositionType) -> tuple[int, int]:
         """
         Convert a world position [m] into a position in the surface [px].
 
@@ -424,8 +426,7 @@ 
Source code for highway_env.road.graphics
 
 

 [docs]
-class LaneGraphics(object):
-
+class LaneGraphics:
     """A visualization of a lane."""
 
     # See https://www.researchgate.net/figure/French-road-traffic-lane-description-and-specification_fig4_261170641
@@ -559,9 +560,9 @@ 
Source code for highway_env.road.graphics
         cls,
         lane: AbstractLane,
         surface: WorldSurface,
-        starts: List[float],
-        ends: List[float],
-        lats: List[float],
+        starts: list[float],
+        ends: list[float],
+        lats: list[float],
     ) -> None:
         """
         Draw a set of stripes along a lane.
@@ -590,7 +591,7 @@ 
Source code for highway_env.road.graphics
         cls,
         lane: AbstractLane,
         surface: WorldSurface,
-        color: Tuple[float],
+        color: tuple[float],
         width: float,
         draw_surface: pygame.Surface = None,
     ) -> None:
@@ -622,8 +623,7 @@ 
Source code for highway_env.road.graphics
 
 

 [docs]
-class RoadGraphics(object):
-
+class RoadGraphics:
     """A visualization of a road lanes and vehicles."""
 
 

@@ -691,7 +691,6 @@ 
Source code for highway_env.road.graphics
 

 [docs]
 class RoadObjectGraphics:
-
     """A visualization of objects on the road."""
 
     YELLOW = (200, 200, 0)
@@ -706,7 +705,7 @@ 
Source code for highway_env.road.graphics
     @classmethod
     def display(
         cls,
-        object_: "RoadObject",
+        object_: RoadObject,
         surface: WorldSurface,
         transparent: bool = False,
         offscreen: bool = False,
@@ -790,7 +789,7 @@ 
Source code for highway_env.road.graphics
 
 
     @classmethod
-    def get_color(cls, object_: "RoadObject", transparent: bool = False):
+    def get_color(cls, object_: RoadObject, transparent: bool = False):
         color = cls.DEFAULT_COLOR
 
         if isinstance(object_, Obstacle):
diff --git a/_modules/highway_env/road/lane/index.html b/_modules/highway_env/road/lane/index.html
index 296fe1976..b8a493d54 100644
--- a/_modules/highway_env/road/lane/index.html
+++ b/_modules/highway_env/road/lane/index.html
@@ -291,8 +291,9 @@
           

             
             
Source code for highway_env.road.lane
-from abc import ABCMeta, abstractmethod
-from typing import List, Optional, Tuple, Union
+from __future__ import annotations
+
+from abc import ABCMeta, abstractmethod
 
 import numpy as np
 
@@ -303,15 +304,14 @@ 
Source code for highway_env.road.lane
 
 

 [docs]
-class AbstractLane(object):
-
+class AbstractLane:
     """A lane on the road, described by its central curve."""
 
     metaclass__ = ABCMeta
     DEFAULT_WIDTH: float = 4
     VEHICLE_LENGTH: float = 5
     length: float = 0
-    line_types: List["LineType"]
+    line_types: list[LineType]
 
 

 [docs]
@@ -330,7 +330,7 @@ 
Source code for highway_env.road.lane
 

 [docs]
     @abstractmethod
-    def local_coordinates(self, position: np.ndarray) -> Tuple[float, float]:
+    def local_coordinates(self, position: np.ndarray) -> tuple[float, float]:
         """
         Convert a world position to local lane coordinates.
 
@@ -456,7 +456,7 @@ 
Source code for highway_env.road.lane
     def distance_with_heading(
         self,
         position: np.ndarray,
-        heading: Optional[float],
+        heading: float | None,
         heading_weight: float = 1.0,
     ):
         """Compute a weighted distance in position and heading to the lane."""
@@ -479,7 +479,6 @@ 
Source code for highway_env.road.lane
 

 [docs]
 class LineType:
-
     """A lane side line type."""
 
     NONE = 0
@@ -492,7 +491,6 @@ 
Source code for highway_env.road.lane
 

 [docs]
 class StraightLane(AbstractLane):
-
     """A lane going in straight line."""
 
     def __init__(
@@ -500,7 +498,7 @@ 
Source code for highway_env.road.lane
         start: Vector,
         end: Vector,
         width: float = AbstractLane.DEFAULT_WIDTH,
-        line_types: Tuple[LineType, LineType] = None,
+        line_types: tuple[LineType, LineType] = None,
         forbidden: bool = False,
         speed_limit: float = 20,
         priority: int = 0,
@@ -553,7 +551,7 @@ 
Source code for highway_env.road.lane
 
 

 [docs]
-    def local_coordinates(self, position: np.ndarray) -> Tuple[float, float]:
+    def local_coordinates(self, position: np.ndarray) -> tuple[float, float]:
         delta = position - self.start
         longitudinal = np.dot(delta, self.direction)
         lateral = np.dot(delta, self.direction_lateral)
@@ -591,7 +589,6 @@ 
Source code for highway_env.road.lane
 

 [docs]
 class SineLane(StraightLane):
-
     """A sinusoidal lane."""
 
     def __init__(
@@ -602,7 +599,7 @@ 
Source code for highway_env.road.lane
         pulsation: float,
         phase: float,
         width: float = StraightLane.DEFAULT_WIDTH,
-        line_types: List[LineType] = None,
+        line_types: list[LineType] = None,
         forbidden: bool = False,
         speed_limit: float = 20,
         priority: int = 0,
@@ -645,7 +642,7 @@ 
Source code for highway_env.road.lane
 
 

 [docs]
-    def local_coordinates(self, position: np.ndarray) -> Tuple[float, float]:
+    def local_coordinates(self, position: np.ndarray) -> tuple[float, float]:
         longitudinal, lateral = super().local_coordinates(position)
         return longitudinal, lateral - self.amplitude * np.sin(
             self.pulsation * longitudinal + self.phase
@@ -685,7 +682,6 @@ 
Source code for highway_env.road.lane
 

 [docs]
 class CircularLane(AbstractLane):
-
     """A lane going in circle arc."""
 
     def __init__(
@@ -696,7 +692,7 @@ 
Source code for highway_env.road.lane
         end_phase: float,
         clockwise: bool = True,
         width: float = AbstractLane.DEFAULT_WIDTH,
-        line_types: List[LineType] = None,
+        line_types: list[LineType] = None,
         forbidden: bool = False,
         speed_limit: float = 20,
         priority: int = 0,
@@ -740,7 +736,7 @@ 
Source code for highway_env.road.lane
 
 

 [docs]
-    def local_coordinates(self, position: np.ndarray) -> Tuple[float, float]:
+    def local_coordinates(self, position: np.ndarray) -> tuple[float, float]:
         delta = position - self.center
         phi = np.arctan2(delta[1], delta[0])
         phi = self.start_phase + utils.wrap_to_pi(phi - self.start_phase)
@@ -789,9 +785,9 @@ 
Source code for highway_env.road.lane
 
     def __init__(
         self,
-        lane_points: List[Tuple[float, float]],
+        lane_points: list[tuple[float, float]],
         width: float = AbstractLane.DEFAULT_WIDTH,
-        line_types: Tuple[LineType, LineType] = None,
+        line_types: tuple[LineType, LineType] = None,
         forbidden: bool = False,
         speed_limit: float = 20,
         priority: int = 0,
@@ -814,7 +810,7 @@ 
Source code for highway_env.road.lane
 
 

 [docs]
-    def local_coordinates(self, position: np.ndarray) -> Tuple[float, float]:
+    def local_coordinates(self, position: np.ndarray) -> tuple[float, float]:
         lon, lat = self.curve.cartesian_to_frenet(position)
         return lon, lat

 
@@ -868,10 +864,10 @@ 
Source code for highway_env.road.lane
 
     def __init__(
         self,
-        lane_points: List[Tuple[float, float]],
-        left_boundary_points: List[Tuple[float, float]],
-        right_boundary_points: List[Tuple[float, float]],
-        line_types: Tuple[LineType, LineType] = None,
+        lane_points: list[tuple[float, float]],
+        left_boundary_points: list[tuple[float, float]],
+        right_boundary_points: list[tuple[float, float]],
+        line_types: tuple[LineType, LineType] = None,
         forbidden: bool = False,
         speed_limit: float = 20,
         priority: int = 0,
@@ -955,7 +951,7 @@ 
Source code for highway_env.road.lane
 
 
 
-def _to_serializable(arg: Union[np.ndarray, List]) -> List:
+def _to_serializable(arg: np.ndarray | list) -> list:
     if isinstance(arg, np.ndarray):
         return arg.tolist()
     return arg
diff --git a/_modules/highway_env/road/regulation/index.html b/_modules/highway_env/road/regulation/index.html
index 2f1ec9df4..9b41134e9 100644
--- a/_modules/highway_env/road/regulation/index.html
+++ b/_modules/highway_env/road/regulation/index.html
@@ -291,7 +291,7 @@
           

             
             
Source code for highway_env.road.regulation
-from typing import List, Tuple
+from __future__ import annotations
 
 import numpy as np
 
@@ -305,15 +305,15 @@ 
Source code for highway_env.road.regulation
 

 [docs]
 class RegulatedRoad(Road):
-    YIELDING_COLOR: Tuple[float, float, float] = None
+    YIELDING_COLOR: tuple[float, float, float] = None
     REGULATION_FREQUENCY: int = 2
     YIELD_DURATION: float = 0.0
 
     def __init__(
         self,
         network: RoadNetwork = None,
-        vehicles: List[Vehicle] = None,
-        obstacles: List[Obstacle] = None,
+        vehicles: list[Vehicle] = None,
+        obstacles: list[Obstacle] = None,
         np_random: np.random.RandomState = None,
         record_history: bool = False,
     ) -> None:
diff --git a/_modules/highway_env/road/road/index.html b/_modules/highway_env/road/road/index.html
index a2f2f3ddb..0cfe7344b 100644
--- a/_modules/highway_env/road/road/index.html
+++ b/_modules/highway_env/road/road/index.html
@@ -291,14 +291,17 @@
           

             
             
Source code for highway_env.road.road
-import logging
-from typing import TYPE_CHECKING, Dict, List, Optional, Tuple
+from __future__ import annotations
+
+import logging
+from typing import TYPE_CHECKING, List, Tuple
 
 import numpy as np
 
 from highway_env.road.lane import AbstractLane, LineType, StraightLane, lane_from_config
 from highway_env.vehicle.objects import Landmark
 
+
 if TYPE_CHECKING:
     from highway_env.vehicle import kinematics, objects
 
@@ -308,8 +311,8 @@ 
Source code for highway_env.road.road
 Route = List[LaneIndex]
 
 
-class RoadNetwork(object):
-    graph: Dict[str, Dict[str, List[AbstractLane]]]
+class RoadNetwork:
+    graph: dict[str, dict[str, list[AbstractLane]]]
 
     def __init__(self):
         self.graph = {}
@@ -343,7 +346,7 @@ 
Source code for highway_env.road.road
         return self.graph[_from][_to][_id]
 
     def get_closest_lane_index(
-        self, position: np.ndarray, heading: Optional[float] = None
+        self, position: np.ndarray, heading: float | None = None
     ) -> LaneIndex:
         """
         Get the index of the lane closest to a world position.
@@ -433,7 +436,7 @@ 
Source code for highway_env.road.road
         next_to: str,
         next_id: int,
         position: np.ndarray,
-    ) -> Tuple[int, float]:
+    ) -> tuple[int, float]:
         # If next road has same number of lane, stay on the same lane
         if len(self.graph[_from][_to]) == len(self.graph[_to][next_to]):
             if next_id is None:
@@ -446,7 +449,7 @@ 
Source code for highway_env.road.road
             )
         return next_id, self.get_lane((_to, next_to, next_id)).distance(position)
 
-    def bfs_paths(self, start: str, goal: str) -> List[List[str]]:
+    def bfs_paths(self, start: str, goal: str) -> list[list[str]]:
         """
         Breadth-first search of all routes from start to goal.
 
@@ -467,7 +470,7 @@ 
Source code for highway_env.road.road
                 elif _next in self.graph:
                     queue.append((_next, path + [_next]))
 
-    def shortest_path(self, start: str, goal: str) -> List[str]:
+    def shortest_path(self, start: str, goal: str) -> list[str]:
         """
         Breadth-first search of shortest path from start to goal.
 
@@ -477,7 +480,7 @@ 
Source code for highway_env.road.road
         """
         return next(self.bfs_paths(start, goal), [])
 
-    def all_side_lanes(self, lane_index: LaneIndex) -> List[LaneIndex]:
+    def all_side_lanes(self, lane_index: LaneIndex) -> list[LaneIndex]:
         """
         :param lane_index: the index of a lane.
         :return: all lanes belonging to the same road.
@@ -487,7 +490,7 @@ 
Source code for highway_env.road.road
             for i in range(len(self.graph[lane_index[0]][lane_index[1]]))
         ]
 
-    def side_lanes(self, lane_index: LaneIndex) -> List[LaneIndex]:
+    def side_lanes(self, lane_index: LaneIndex) -> list[LaneIndex]:
         """
         :param lane_index: the index of a lane.
         :return: indexes of lanes next to a an input lane, to its right or left.
@@ -565,12 +568,12 @@ 
Source code for highway_env.road.road
                 )
         return False
 
-    def lanes_list(self) -> List[AbstractLane]:
+    def lanes_list(self) -> list[AbstractLane]:
         return [
             lane for to in self.graph.values() for ids in to.values() for lane in ids
         ]
 
-    def lanes_dict(self) -> Dict[str, AbstractLane]:
+    def lanes_dict(self) -> dict[str, AbstractLane]:
         return {
             (from_, to_, i): lane
             for from_, tos in self.graph.items()
@@ -585,9 +588,9 @@ 
Source code for highway_env.road.road
         length: float = 10000,
         angle: float = 0,
         speed_limit: float = 30,
-        nodes_str: Optional[Tuple[str, str]] = None,
-        net: Optional["RoadNetwork"] = None,
-    ) -> "RoadNetwork":
+        nodes_str: tuple[str, str] | None = None,
+        net: RoadNetwork | None = None,
+    ) -> RoadNetwork:
         net = net or RoadNetwork()
         nodes_str = nodes_str or ("0", "1")
         for lane in range(lanes):
@@ -616,7 +619,7 @@ 
Source code for highway_env.road.road
         longitudinal: float,
         lateral: float,
         current_lane_index: LaneIndex,
-    ) -> Tuple[np.ndarray, float]:
+    ) -> tuple[np.ndarray, float]:
         """
         Get the absolute position and heading along a route composed of several lanes at some local coordinates.
 
@@ -681,15 +684,14 @@ 
Source code for highway_env.road.road
 
 

 [docs]
-class Road(object):
-
+class Road:
     """A road is a set of lanes, and a set of vehicles driving on these lanes."""
 
     def __init__(
         self,
         network: RoadNetwork = None,
-        vehicles: List["kinematics.Vehicle"] = None,
-        road_objects: List["objects.RoadObject"] = None,
+        vehicles: list[kinematics.Vehicle] = None,
+        road_objects: list[objects.RoadObject] = None,
         np_random: np.random.RandomState = None,
         record_history: bool = False,
     ) -> None:
@@ -710,9 +712,9 @@ 
Source code for highway_env.road.road
 
     def close_objects_to(
         self,
-        vehicle: "kinematics.Vehicle",
+        vehicle: kinematics.Vehicle,
         distance: float,
-        count: Optional[int] = None,
+        count: int | None = None,
         see_behind: bool = True,
         sort: bool = True,
         vehicles_only: bool = False,
@@ -741,9 +743,9 @@ 
Source code for highway_env.road.road
 
     def close_vehicles_to(
         self,
-        vehicle: "kinematics.Vehicle",
+        vehicle: kinematics.Vehicle,
         distance: float,
-        count: Optional[int] = None,
+        count: int | None = None,
         see_behind: bool = True,
         sort: bool = True,
     ) -> object:
@@ -779,8 +781,8 @@ 
Source code for highway_env.road.road
 

 [docs]
     def neighbour_vehicles(
-        self, vehicle: "kinematics.Vehicle", lane_index: LaneIndex = None
-    ) -> Tuple[Optional["kinematics.Vehicle"], Optional["kinematics.Vehicle"]]:
+        self, vehicle: kinematics.Vehicle, lane_index: LaneIndex = None
+    ) -> tuple[kinematics.Vehicle | None, kinematics.Vehicle | None]:
         """
         Find the preceding and following vehicles of a given vehicle.
 
diff --git a/_modules/highway_env/vehicle/behavior/index.html b/_modules/highway_env/vehicle/behavior/index.html
index 093b8f8cd..24ba841d1 100644
--- a/_modules/highway_env/vehicle/behavior/index.html
+++ b/_modules/highway_env/vehicle/behavior/index.html
@@ -291,7 +291,7 @@
           

             
             
Source code for highway_env.vehicle.behavior
-from typing import Union
+from __future__ import annotations
 
 import numpy as np
 
@@ -366,7 +366,7 @@ 
Source code for highway_env.vehicle.behavior
 [docs]
     @classmethod
-    def create_from(cls, vehicle: ControlledVehicle) -> "IDMVehicle":
+    def create_from(cls, vehicle: ControlledVehicle) -> IDMVehicle:
         """
         Create a new vehicle from an existing one.
 
@@ -390,7 +390,7 @@ 
Source code for highway_env.vehicle.behavior
 [docs]
-    def act(self, action: Union[dict, str] = None):
+    def act(self, action: dict | str = None):
         """
         Execute an action.
 
@@ -433,9 +433,8 @@ 
Source code for highway_env.vehicle.behavior
action["acceleration"] = np.clip(
             action["acceleration"], -self.ACC_MAX, self.ACC_MAX
         )
-        Vehicle.act(
-            self, action
-        )  # Skip ControlledVehicle.act(), or the command will be overriden.

+        # Skip ControlledVehicle.act(), or the command will be overridden.
+        Vehicle.act(self, action)

 
 
 

@@ -671,7 +670,6 @@ 
Source code for highway_env.vehicle.behavior
 [docs]
 class LinearVehicle(IDMVehicle):
-
     """A Vehicle whose longitudinal and lateral controllers are linear with respect to parameters."""
 
     ACCELERATION_PARAMETERS = [0.3, 0.3, 2.0]
@@ -724,7 +722,7 @@ 
Source code for highway_env.vehicle.behavior
 [docs]
-    def act(self, action: Union[dict, str] = None):
+    def act(self, action: dict | str = None):
         if self.collecting_data:
             self.collect_data()
         super().act(action)

diff --git a/_modules/highway_env/vehicle/controller/index.html b/_modules/highway_env/vehicle/controller/index.html
index 594eb226c..524c17f34 100644
--- a/_modules/highway_env/vehicle/controller/index.html
+++ b/_modules/highway_env/vehicle/controller/index.html
@@ -579,7 +579,6 @@ 
Source code for highway_env.vehicle.controller

 [docs]
 class MDPVehicle(ControlledVehicle):
-
     """A controlled vehicle with a specified discrete range of allowed target speeds."""
 
     DEFAULT_TARGET_SPEEDS = np.linspace(20, 30, 3)
diff --git a/_modules/highway_env/vehicle/kinematics/index.html b/_modules/highway_env/vehicle/kinematics/index.html
index 485bedcb6..3b177b899 100644
--- a/_modules/highway_env/vehicle/kinematics/index.html
+++ b/_modules/highway_env/vehicle/kinematics/index.html
@@ -291,9 +291,10 @@
           

             
             
Source code for highway_env.vehicle.kinematics
-import copy
+from __future__ import annotations
+
+import copy
 from collections import deque
-from typing import List, Optional, Tuple, Union
 
 import numpy as np
 
@@ -305,7 +306,6 @@ 
Source code for highway_env.vehicle.kinematics

 [docs]
 class Vehicle(RoadObject):
-
     """
     A moving vehicle on a road, and its kinematics.
 
@@ -349,11 +349,11 @@ 
Source code for highway_env.vehicle.kinematics
cls,
         road: Road,
         speed: float = None,
-        lane_from: Optional[str] = None,
-        lane_to: Optional[str] = None,
-        lane_id: Optional[int] = None,
+        lane_from: str | None = None,
+        lane_to: str | None = None,
+        lane_id: int | None = None,
         spacing: float = 1,
-    ) -> "Vehicle":
+    ) -> Vehicle:
         """
         Create a random vehicle on the road.
 
@@ -404,7 +404,7 @@ 
Source code for highway_env.vehicle.kinematics

 [docs]
     @classmethod
-    def create_from(cls, vehicle: "Vehicle") -> "Vehicle":
+    def create_from(cls, vehicle: Vehicle) -> Vehicle:
         """
         Create a new vehicle from an existing one.
 
@@ -421,7 +421,7 @@ 
Source code for highway_env.vehicle.kinematics

 [docs]
-    def act(self, action: Union[dict, str] = None) -> None:
+    def act(self, action: dict | str = None) -> None:
         """
         Store an action to be repeated.
 
@@ -485,7 +485,7 @@ 
Source code for highway_env.vehicle.kinematics
def predict_trajectory_constant_speed(
         self, times: np.ndarray
-    ) -> Tuple[List[np.ndarray], List[float]]:
+    ) -> tuple[list[np.ndarray], list[float]]:
         if self.prediction_type == "zero_steering":
             action = {"acceleration": 0.0, "steering": 0.0}
         elif self.prediction_type == "constant_steering":
@@ -542,7 +542,7 @@ 
Source code for highway_env.vehicle.kinematics
return np.zeros((3,))
 
     def to_dict(
-        self, origin_vehicle: "Vehicle" = None, observe_intentions: bool = True
+        self, origin_vehicle: Vehicle = None, observe_intentions: bool = True
     ) -> dict:
         d = {
             "presence": 1,
@@ -579,11 +579,11 @@ 
Source code for highway_env.vehicle.kinematics
[docs]
     def predict_trajectory(
         self,
-        actions: List,
+        actions: list,
         action_duration: float,
         trajectory_timestep: float,
         dt: float,
-    ) -> List["Vehicle"]:
+    ) -> list[Vehicle]:
         """
         Predict the future trajectory of the vehicle given a sequence of actions.
 
diff --git a/actions/index.html b/actions/index.html
index 7f884579c..90c0717cc 100644
--- a/actions/index.html
+++ b/actions/index.html
@@ -437,7 +437,7 @@ 
Manual control
 

-class highway_env.envs.common.action.ContinuousAction(env: AbstractEnv, acceleration_range: Tuple[float, float] | None = None, steering_range: Tuple[float, float] | None = None, speed_range: Tuple[float, float] | None = None, longitudinal: bool = True, lateral: bool = True, dynamical: bool = False, clip: bool = True, **kwargs)[source]¶

+class highway_env.envs.common.action.ContinuousAction(env: AbstractEnv, acceleration_range: tuple[float, float] | None = None, steering_range: tuple[float, float] | None = None, speed_range: tuple[float, float] | None = None, longitudinal: bool = True, lateral: bool = True, dynamical: bool = False, clip: bool = True, **kwargs)[source]¶
 
An continuous action space for throttle and/or steering angle.

 
If both throttle and steering are enabled, they are set in this order: [throttle, steering]

 
The space intervals are always [-1, 1], but are mapped to throttle/steering intervals through configurations.

@@ -509,7 +509,7 @@ 
Manual control
 

-class highway_env.envs.common.action.DiscreteAction(env: AbstractEnv, acceleration_range: Tuple[float, float] | None = None, steering_range: Tuple[float, float] | None = None, longitudinal: bool = True, lateral: bool = True, dynamical: bool = False, clip: bool = True, actions_per_axis: int = 3, **kwargs)[source]¶

+class highway_env.envs.common.action.DiscreteAction(env: AbstractEnv, acceleration_range: tuple[float, float] | None = None, steering_range: tuple[float, float] | None = None, longitudinal: bool = True, lateral: bool = True, dynamical: bool = False, clip: bool = True, actions_per_axis: int = 3, **kwargs)[source]¶
 
Create a continuous action space.

 

 
Parameters:

@@ -549,7 +549,7 @@ 
Manual control
 

-class highway_env.envs.common.action.DiscreteMetaAction(env: AbstractEnv, longitudinal: bool = True, lateral: bool = True, target_speeds: ndarray | Sequence[float] | None = None, **kwargs)[source]¶

+class highway_env.envs.common.action.DiscreteMetaAction(env: AbstractEnv, longitudinal: bool = True, lateral: bool = True, target_speeds: Vector | None = None, **kwargs)[source]¶
 
An discrete action space of meta-actions: lane changes, and cruise control set-point.

 
Create a discrete action space of meta-actions.

 

@@ -595,7 +595,7 @@ 
Manual control
 

-act(action: int | ndarray) → None[source]¶

+act(action: int | np.ndarray) → None[source]¶
 
Execute the action on the ego-vehicle.

 
Most of the action mechanics are actually implemented in vehicle.act(action), where
 vehicle is an instance of the specified highway_env.envs.common.action.ActionType.vehicle_class.
@@ -609,7 +609,7 @@ 
Manual control
 

-get_available_actions() → List[int][source]¶

+get_available_actions() → list[int][source]¶
 
Get the list of currently available actions.

 
Lane changes are not available on the boundary of the road, and speed changes are not available at
 maximal or minimal speed.

diff --git a/dynamics/road/lane/index.html b/dynamics/road/lane/index.html
index d8fb88c63..86f5fb115 100644
--- a/dynamics/road/lane/index.html
+++ b/dynamics/road/lane/index.html
@@ -332,7 +332,7 @@
 
 

 

-abstract local_coordinates(position: ndarray) → Tuple[float, float][source]¶

+abstract local_coordinates(position: ndarray) → tuple[float, float][source]¶
 
Convert a world position to local lane coordinates.

 

 
Parameters:

@@ -435,7 +435,7 @@
 
 

 

-distance_with_heading(position: ndarray, heading: float | None, heading_weight: float = 1.0)[source]¶

+distance_with_heading(position: np.ndarray, heading: float | None, heading_weight: float = 1.0)[source]¶
 
Compute a weighted distance in position and heading to the lane.

 

 
@@ -455,7 +455,7 @@
 
 

 

-class highway_env.road.lane.StraightLane(start: ndarray | Sequence[float], end: ndarray | Sequence[float], width: float = AbstractLane.DEFAULT_WIDTH, line_types: Tuple[LineType, LineType] | None = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)[source]¶

+class highway_env.road.lane.StraightLane(start: ndarray | Sequence[float], end: ndarray | Sequence[float], width: float = AbstractLane.DEFAULT_WIDTH, line_types: tuple[LineType, LineType] | None = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)[source]¶
 
A lane going in straight line.

 
New straight lane.

 

@@ -517,7 +517,7 @@
 
 

 

-local_coordinates(position: ndarray) → Tuple[float, float][source]¶

+local_coordinates(position: ndarray) → tuple[float, float][source]¶
 
Convert a world position to local lane coordinates.

 

 
Parameters:

@@ -555,7 +555,7 @@
 
 

 

-class highway_env.road.lane.SineLane(start: ndarray | Sequence[float], end: ndarray | Sequence[float], amplitude: float, pulsation: float, phase: float, width: float = StraightLane.DEFAULT_WIDTH, line_types: List[LineType] | None = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)[source]¶

+class highway_env.road.lane.SineLane(start: ndarray | Sequence[float], end: ndarray | Sequence[float], amplitude: float, pulsation: float, phase: float, width: float = StraightLane.DEFAULT_WIDTH, line_types: list[LineType] | None = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)[source]¶
 
A sinusoidal lane.

 
New sinusoidal lane.

 

@@ -602,7 +602,7 @@
 
 

 

-local_coordinates(position: ndarray) → Tuple[float, float][source]¶

+local_coordinates(position: ndarray) → tuple[float, float][source]¶
 
Convert a world position to local lane coordinates.

 

 
Parameters:

@@ -640,7 +640,7 @@
 
 

 

-class highway_env.road.lane.CircularLane(center: ndarray | Sequence[float], radius: float, start_phase: float, end_phase: float, clockwise: bool = True, width: float = AbstractLane.DEFAULT_WIDTH, line_types: List[LineType] | None = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)[source]¶

+class highway_env.road.lane.CircularLane(center: ndarray | Sequence[float], radius: float, start_phase: float, end_phase: float, clockwise: bool = True, width: float = AbstractLane.DEFAULT_WIDTH, line_types: list[LineType] | None = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)[source]¶
 
A lane going in circle arc.

 

 

@@ -689,7 +689,7 @@
 
 

 

-local_coordinates(position: ndarray) → Tuple[float, float][source]¶

+local_coordinates(position: ndarray) → tuple[float, float][source]¶

 
Convert a world position to local lane coordinates.

 

 
Parameters:

@@ -727,7 +727,7 @@
 
 

 

-class highway_env.road.lane.PolyLaneFixedWidth(lane_points: List[Tuple[float, float]], width: float = AbstractLane.DEFAULT_WIDTH, line_types: Tuple[LineType, LineType] | None = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)[source]¶

+class highway_env.road.lane.PolyLaneFixedWidth(lane_points: list[tuple[float, float]], width: float = AbstractLane.DEFAULT_WIDTH, line_types: tuple[LineType, LineType] | None = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)[source]¶
 
A fixed-width lane defined by a set of points and approximated with a 2D Hermite polynomial.

 

 

@@ -748,7 +748,7 @@
 
 

 

-local_coordinates(position: ndarray) → Tuple[float, float][source]¶

+local_coordinates(position: ndarray) → tuple[float, float][source]¶

 
Convert a world position to local lane coordinates.

 

 
Parameters:

@@ -814,7 +814,7 @@
 
 

 

-class highway_env.road.lane.PolyLane(lane_points: List[Tuple[float, float]], left_boundary_points: List[Tuple[float, float]], right_boundary_points: List[Tuple[float, float]], line_types: Tuple[LineType, LineType] | None = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)[source]¶

+class highway_env.road.lane.PolyLane(lane_points: list[tuple[float, float]], left_boundary_points: list[tuple[float, float]], right_boundary_points: list[tuple[float, float]], line_types: tuple[LineType, LineType] | None = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)[source]¶
 
A lane defined by a set of points and approximated with a 2D Hermite polynomial.

 

 

diff --git a/dynamics/road/regulation/index.html b/dynamics/road/regulation/index.html
index a2c50d259..2ed5931ab 100644
--- a/dynamics/road/regulation/index.html
+++ b/dynamics/road/regulation/index.html
@@ -304,7 +304,7 @@
 
API¶

 

 

-class highway_env.road.regulation.RegulatedRoad(network: RoadNetwork | None = None, vehicles: List[Vehicle] | None = None, obstacles: List[Obstacle] | None = None, np_random: RandomState | None = None, record_history: bool = False)[source]¶

+class highway_env.road.regulation.RegulatedRoad(network: RoadNetwork | None = None, vehicles: list[Vehicle] | None = None, obstacles: list[Obstacle] | None = None, np_random: RandomState | None = None, record_history: bool = False)[source]¶

 
New road.

 

 
Parameters:

diff --git a/dynamics/road/road/index.html b/dynamics/road/road/index.html
index 472ba8544..98a314ea8 100644
--- a/dynamics/road/road/index.html
+++ b/dynamics/road/road/index.html
@@ -312,7 +312,7 @@
 
API¶

 

 

-class highway_env.road.road.Road(network: RoadNetwork = None, vehicles: List[kinematics.Vehicle] = None, road_objects: List[objects.RoadObject] = None, np_random: RandomState = None, record_history: bool = False)[source]¶

+class highway_env.road.road.Road(network: RoadNetwork = None, vehicles: list[kinematics.Vehicle] = None, road_objects: list[objects.RoadObject] = None, np_random: np.random.RandomState = None, record_history: bool = False)[source]¶
 
A road is a set of lanes, and a set of vehicles driving on these lanes.

 
New road.

 

@@ -345,7 +345,7 @@
 
 

 

-neighbour_vehicles(vehicle: kinematics.Vehicle, lane_index: Tuple[str, str, int] = None) → Tuple[kinematics.Vehicle | None, kinematics.Vehicle | None][source]¶

+neighbour_vehicles(vehicle: kinematics.Vehicle, lane_index: LaneIndex = None) → tuple[kinematics.Vehicle | None, kinematics.Vehicle | None][source]¶
 
Find the preceding and following vehicles of a given vehicle.

 

 
Parameters:

diff --git a/dynamics/vehicle/behavior/index.html b/dynamics/vehicle/behavior/index.html
index 90764b5ab..78e9e87bc 100644
--- a/dynamics/vehicle/behavior/index.html
+++ b/dynamics/vehicle/behavior/index.html
@@ -431,7 +431,7 @@ 
Lateral Behavior
 

-act(action: dict | str | None = None)[source]¶

+act(action: dict | str = None)[source]¶
 
Execute an action.

 
For now, no action is supported because the vehicle takes all decisions
 of acceleration and lane changes on its own, based on the IDM and MOBIL models.

@@ -562,7 +562,7 @@ 
Lateral Behavior
 

-act(action: dict | str | None = None)[source]¶

+act(action: dict | str = None)[source]¶
 
Execute an action.

 
For now, no action is supported because the vehicle takes all decisions
 of acceleration and lane changes on its own, based on the IDM and MOBIL models.

diff --git a/dynamics/vehicle/kinematics/index.html b/dynamics/vehicle/kinematics/index.html
index 2e5934839..c88be8832 100644
--- a/dynamics/vehicle/kinematics/index.html
+++ b/dynamics/vehicle/kinematics/index.html
@@ -366,7 +366,7 @@ 
Kinematics
 

-classmethod create_random(road: Road, speed: float | None = None, lane_from: str | None = None, lane_to: str | None = None, lane_id: int | None = None, spacing: float = 1) → Vehicle[source]¶

+classmethod create_random(road: Road, speed: float = None, lane_from: str | None = None, lane_to: str | None = None, lane_id: int | None = None, spacing: float = 1) → Vehicle[source]¶
 
Create a random vehicle on the road.

 
The lane and /or speed are chosen randomly, while longitudinal position is chosen behind the last
 vehicle in the road with density based on the number of lanes.

@@ -404,7 +404,7 @@ 
Kinematics
 

-act(action: dict | str | None = None) → None[source]¶

+act(action: dict | str = None) → None[source]¶
 
Store an action to be repeated.

 

 
Parameters:

@@ -429,7 +429,7 @@ 
Kinematics
 

-predict_trajectory(actions: List, action_duration: float, trajectory_timestep: float, dt: float) → List[Vehicle][source]¶

+predict_trajectory(actions: list, action_duration: float, trajectory_timestep: float, dt: float) → list[Vehicle][source]¶
 
Predict the future trajectory of the vehicle given a sequence of actions.

 

 
Parameters:

diff --git a/environments/highway/index.html b/environments/highway/index.html
index 7a4a9e9a6..72e235c37 100644
--- a/environments/highway/index.html
+++ b/environments/highway/index.html
@@ -354,7 +354,7 @@ 
Faster variant¶

 

 

-class highway_env.envs.highway_env.HighwayEnv(config: dict | None = None, render_mode: str | None = None)[source]¶

+class highway_env.envs.highway_env.HighwayEnv(config: dict = None, render_mode: str | None = None)[source]¶
 
A highway driving environment.

 
The vehicle is driving on a straight highway with several lanes, and is rewarded for reaching a high speed,
 staying on the rightmost lanes and avoiding collisions.

diff --git a/environments/intersection/index.html b/environments/intersection/index.html
index 62df81714..ba60485fd 100644
--- a/environments/intersection/index.html
+++ b/environments/intersection/index.html
@@ -363,7 +363,7 @@ 
Default configurationAPI¶

 

 

-class highway_env.envs.intersection_env.IntersectionEnv(config: dict | None = None, render_mode: str | None = None)[source]¶

+class highway_env.envs.intersection_env.IntersectionEnv(config: dict = None, render_mode: str | None = None)[source]¶
 

 

 classmethod default_config() → dict[source]¶

@@ -374,7 +374,7 @@ 
API¶

 

-step(action: int) → Tuple[ndarray, float, bool, bool, dict][source]¶

+step(action: int) → tuple[ndarray, float, bool, bool, dict][source]¶
 
Perform an action and step the environment dynamics.

 
The action is executed by the ego-vehicle, and all other vehicles on the road performs their default behaviour
 for several simulation timesteps until the next decision making step.

diff --git a/environments/merge/index.html b/environments/merge/index.html
index e92ebab0c..ad08ecdae 100644
--- a/environments/merge/index.html
+++ b/environments/merge/index.html
@@ -340,7 +340,7 @@ 
Default configurationAPI¶

 

 

-class highway_env.envs.merge_env.MergeEnv(config: dict | None = None, render_mode: str | None = None)[source]¶

+class highway_env.envs.merge_env.MergeEnv(config: dict = None, render_mode: str | None = None)[source]¶
 
A highway merge negotiation environment.

 
The ego-vehicle is driving on a highway and approached a merge, with some vehicles incoming on the access ramp.
 It is rewarded for maintaining a high speed and avoiding collisions, but also making room for merging
diff --git a/environments/parking/index.html b/environments/parking/index.html
index c58fc4519..ee4059c94 100644
--- a/environments/parking/index.html
+++ b/environments/parking/index.html
@@ -342,7 +342,7 @@ 
Default configurationAPI¶

 

 

-class highway_env.envs.parking_env.ParkingEnv(config: dict | None = None, render_mode: str | None = None)[source]¶

+class highway_env.envs.parking_env.ParkingEnv(config: dict = None, render_mode: str | None = None)[source]¶
 
A continuous control environment.

 
It implements a reach-type task, where the agent observes their position and speed and must
 control their acceleration and steering so as to reach a given goal.

diff --git a/environments/racetrack/index.html b/environments/racetrack/index.html
index 8bb540588..c17c8b401 100644
--- a/environments/racetrack/index.html
+++ b/environments/racetrack/index.html
@@ -353,7 +353,7 @@ 
Default configurationAPI¶

 

 

-class highway_env.envs.racetrack_env.RacetrackEnv(config: dict | None = None, render_mode: str | None = None)[source]¶

+class highway_env.envs.racetrack_env.RacetrackEnv(config: dict = None, render_mode: str | None = None)[source]¶
 
A continuous control environment.

 
The agent needs to learn two skills:
 - follow the tracks
diff --git a/environments/roundabout/index.html b/environments/roundabout/index.html
index dd6c8ed3d..44d7a909c 100644
--- a/environments/roundabout/index.html
+++ b/environments/roundabout/index.html
@@ -342,7 +342,7 @@ 
Default configurationAPI¶

 

 

-class highway_env.envs.roundabout_env.RoundaboutEnv(config: dict | None = None, render_mode: str | None = None)[source]¶

+class highway_env.envs.roundabout_env.RoundaboutEnv(config: dict = None, render_mode: str | None = None)[source]¶
 

 

 classmethod default_config() → dict[source]¶

diff --git a/graphics/index.html b/graphics/index.html
index 17e8b69ee..2bda14970 100644
--- a/graphics/index.html
+++ b/graphics/index.html
@@ -340,7 +340,7 @@ 
Scene graphics
 

-set_agent_action_sequence(actions: List[Action]) → None[source]¶

+set_agent_action_sequence(actions: list[Action]) → None[source]¶
 
Set the sequence of actions chosen by the agent, so that it can be displayed

 

 
Parameters:

@@ -384,7 +384,7 @@ 
Scene graphics
 

-class highway_env.road.graphics.WorldSurface(size: Tuple[int, int], flags: object, surf: Surface)[source]¶

+class highway_env.road.graphics.WorldSurface(size: tuple[int, int], flags: object, surf: Surface)[source]¶
 
A pygame Surface implementing a local coordinate system so that we can move and zoom in the displayed area.

 

 

@@ -402,7 +402,7 @@ 
Scene graphics
 

-pos2pix(x: float, y: float) → Tuple[int, int][source]¶

+pos2pix(x: float, y: float) → tuple[int, int][source]¶

 
Convert two world coordinates [m] into a position in the surface [px]

 

 
Parameters:

@@ -419,7 +419,7 @@ 
Scene graphics
 

-vec2pix(vec: Tuple[float, float] | ndarray) → Tuple[int, int][source]¶

+vec2pix(vec: Tuple[float, float] | ndarray) → tuple[int, int][source]¶
 
Convert a world position [m] into a position in the surface [px].

 

 
Parameters:

@@ -553,7 +553,7 @@ 
Scene graphics
 

-classmethod draw_stripes(lane: AbstractLane, surface: WorldSurface, starts: List[float], ends: List[float], lats: List[float]) → None[source]¶

+classmethod draw_stripes(lane: AbstractLane, surface: WorldSurface, starts: list[float], ends: list[float], lats: list[float]) → None[source]¶
 
Draw a set of stripes along a lane.

 

 
Parameters:

diff --git a/make_your_own/index.html b/make_your_own/index.html
index d2cd8d9b7..e55e8e773 100644
--- a/make_your_own/index.html
+++ b/make_your_own/index.html
@@ -385,7 +385,7 @@ 
Profit¶
 

-class highway_env.envs.common.abstract.AbstractEnv(config: dict | None = None, render_mode: str | None = None)[source]¶

+class highway_env.envs.common.abstract.AbstractEnv(config: dict = None, render_mode: str | None = None)[source]¶
 
A generic environment for various tasks involving a vehicle driving on a road.

 
The environment contains a road populated with vehicles, and a controlled ego-vehicle that can change lane and
 speed. The action space is fixed, but the observation space and reward function must be defined in the
@@ -432,7 +432,7 @@ 
Profit¶
 

-_rewards(action: int | ndarray) → Dict[str, float][source]¶

+_rewards(action: int | ndarray) → dict[str, float][source]¶
 
Returns a multi-objective vector of rewards.

 
If implemented, this reward vector should be aggregated into a scalar in _reward().
 This vector value should only be returned inside the info dict.

@@ -466,7 +466,7 @@ 
Profit¶
 

-_info(obs: Observation, action: int | ndarray | None = None) → dict[source]¶

+_info(obs: Observation, action: Action | None = None) → dict[source]¶
 
Return a dictionary of additional information

 

 
Parameters:

@@ -483,7 +483,7 @@ 
Profit¶
 

-reset(*, seed: int | None = None, options: dict | None = None) → Tuple[Observation, dict][source]¶

+reset(*, seed: int | None = None, options: dict | None = None) → tuple[Observation, dict][source]¶
 
Reset the environment to it’s initial configuration

 

 
Parameters:

@@ -507,7 +507,7 @@ 
Profit¶
 

-step(action: int | ndarray) → Tuple[Observation, float, bool, bool, dict][source]¶

+step(action: int | ndarray) → tuple[Observation, float, bool, bool, dict][source]¶
 
Perform an action and step the environment dynamics.

 
The action is executed by the ego-vehicle, and all other vehicles on the road performs their default behaviour
 for several simulation timesteps until the next decision making step.

@@ -523,13 +523,13 @@ 
Profit¶
 

-_simulate(action: int | ndarray | None = None) → None[source]¶

+_simulate(action: Action | None = None) → None[source]¶
 
Perform several steps of simulation with constant action.

 

 
 

 

-render() → ndarray | None[source]¶

+render() → np.ndarray | None[source]¶
 
Render the environment.

 
Create a viewer if none exists, and use it to render an image.

 

diff --git a/multi_agent/index.html b/multi_agent/index.html
index 0ac6eed9f..127ad4201 100644
--- a/multi_agent/index.html
+++ b/multi_agent/index.html
@@ -389,11 +389,11 @@ 
Change the observation space
-
(array([[ 1.        ,  0.90945333,  0.75      ,  0.3125    ,  0.        ],
-       [ 1.        ,  0.10664026, -0.25      , -0.03792438,  0.        ],
-       [ 1.        ,  0.21115574, -0.25      , -0.01630961,  0.        ],
-       [ 1.        ,  0.3167825 , -0.5       , -0.04146585,  0.        ],
-       [ 1.        ,  0.4123537 , -0.25      , -0.03897353,  0.        ]],
+
(array([[ 1.        ,  0.8907947 ,  0.5       ,  0.3125    ,  0.        ],
+       [ 1.        ,  0.10232993,  0.25      , -0.0468663 ,  0.        ],
+       [ 1.        ,  0.21085131, -0.25      , -0.03215877,  0.        ],
+       [ 1.        ,  0.31743756,  0.        , -0.04366685,  0.        ],
+       [ 1.        ,  0.42866647,  0.        , -0.01421973,  0.        ]],
       dtype=float32),)
 

 

diff --git a/observations/index.html b/observations/index.html
index 24a89a254..fd803ef8c 100644
--- a/observations/index.html
+++ b/observations/index.html
@@ -301,7 +301,7 @@ 
Observations
 import highway_env
 
 env = gym.make(
-    'highway-v0', 
+    'highway-v0',
     config={
         "observation": {
             "type": "OccupancyGrid",
@@ -558,25 +558,25 @@ 
Example configuration
 

 

-
[[ 1.          1.          0.04        1.          0.          1.
+
[[ 1.          1.          0.12        1.          0.          1.
    0.        ]
- [ 1.          0.22449204  0.08       -0.15941963  0.          1.
+ [ 1.          0.20796539  0.         -0.07930574  0.          1.
    0.        ]
- [ 1.          0.42466983  0.         -0.09338507  0.          1.
+ [ 1.          0.43728748  0.         -0.10441518  0.          1.
    0.        ]
- [ 1.          0.6268542   0.04       -0.09212964  0.          1.
+ [ 1.          0.63276297  0.         -0.16635698  0.          1.
    0.        ]
- [ 1.          0.8136069   0.         -0.14503604  0.          1.
+ [ 1.          0.8445503  -0.12       -0.10898441  0.          1.
    0.        ]
- [ 1.          1.          0.         -0.08288387  0.          1.
+ [ 1.          1.         -0.12       -0.12598878  0.          1.
    0.        ]
- [ 1.          1.          0.         -0.12427282  0.          1.
+ [ 1.          1.         -0.04       -0.07915984  0.          1.
    0.        ]
- [ 1.          1.          0.04       -0.19778234  0.          1.
+ [ 1.          1.         -0.12       -0.1142595   0.          1.
    0.        ]
- [ 1.          1.         -0.04       -0.10740223  0.          1.
+ [ 1.          1.         -0.08       -0.11307526  0.          1.
    0.        ]
- [ 1.          1.          0.04       -0.12799524  0.          1.
+ [ 1.          1.         -0.04       -0.16392277  0.          1.
    0.        ]
  [ 0.          0.          0.          0.          0.          0.
    0.        ]
@@ -968,7 +968,7 @@ 
Example configuration
API¶

 

 

-class highway_env.envs.common.observation.GrayscaleObservation(env: AbstractEnv, observation_shape: Tuple[int, int], stack_size: int, weights: List[float], scaling: float | None = None, centering_position: List[float] | None = None, **kwargs)[source]¶

+class highway_env.envs.common.observation.GrayscaleObservation(env: AbstractEnv, observation_shape: tuple[int, int], stack_size: int, weights: list[float], scaling: float | None = None, centering_position: list[float] | None = None, **kwargs)[source]¶
 
An observation class that collects directly what the simulator renders.

 
Also stacks the collected frames as in the nature DQN.
 The observation shape is C x W x H.

@@ -1000,7 +1000,7 @@ 
Example configuration
 

-class highway_env.envs.common.observation.KinematicObservation(env: AbstractEnv, features: List[str] = None, vehicles_count: int = 5, features_range: Dict[str, List[float]] = None, absolute: bool = False, order: str = 'sorted', normalize: bool = True, clip: bool = True, see_behind: bool = False, observe_intentions: bool = False, include_obstacles: bool = True, **kwargs: dict)[source]¶

+class highway_env.envs.common.observation.KinematicObservation(env: AbstractEnv, features: list[str] = None, vehicles_count: int = 5, features_range: dict[str, list[float]] = None, absolute: bool = False, order: str = 'sorted', normalize: bool = True, clip: bool = True, see_behind: bool = False, observe_intentions: bool = False, include_obstacles: bool = True, **kwargs: dict)[source]¶
 
Observe the kinematics of nearby vehicles.

 

 
Parameters:

@@ -1042,7 +1042,7 @@ 
Example configuration
 

-class highway_env.envs.common.observation.OccupancyGridObservation(env: AbstractEnv, features: List[str] | None = None, grid_size: Tuple[Tuple[float, float], Tuple[float, float]] | None = None, grid_step: Tuple[float, float] | None = None, features_range: Dict[str, List[float]] = None, absolute: bool = False, align_to_vehicle_axes: bool = False, clip: bool = True, as_image: bool = False, **kwargs: dict)[source]¶

+class highway_env.envs.common.observation.OccupancyGridObservation(env: AbstractEnv, features: list[str] | None = None, grid_size: tuple[tuple[float, float], tuple[float, float]] | None = None, grid_step: tuple[float, float] | None = None, features_range: dict[str, list[float]] = None, absolute: bool = False, align_to_vehicle_axes: bool = False, clip: bool = True, as_image: bool = False, **kwargs: dict)[source]¶
 
Observe an occupancy grid of nearby vehicles.

 

 
Parameters:

@@ -1081,7 +1081,7 @@ 
Example configuration
 

-pos_to_index(position: ndarray | Sequence[float], relative: bool = False) → Tuple[int, int][source]¶

+pos_to_index(position: ndarray | Sequence[float], relative: bool = False) → tuple[int, int][source]¶
 
Convert a world position to a grid cell index

 
If align_to_vehicle_axes the cells are in the vehicle’s frame, otherwise in the world frame.

 

@@ -1125,7 +1125,7 @@ 
Example configuration
 

-class highway_env.envs.common.observation.KinematicsGoalObservation(env: AbstractEnv, scales: List[float], **kwargs: dict)[source]¶

+class highway_env.envs.common.observation.KinematicsGoalObservation(env: AbstractEnv, scales: list[float], **kwargs: dict)[source]¶
 

 
Parameters:

 

 
@@ -1158,7 +1158,7 @@ 
Example configuration
 

-class highway_env.envs.common.observation.ExitObservation(env: AbstractEnv, features: List[str] = None, vehicles_count: int = 5, features_range: Dict[str, List[float]] = None, absolute: bool = False, order: str = 'sorted', normalize: bool = True, clip: bool = True, see_behind: bool = False, observe_intentions: bool = False, include_obstacles: bool = True, **kwargs: dict)[source]¶

+class highway_env.envs.common.observation.ExitObservation(env: AbstractEnv, features: list[str] = None, vehicles_count: int = 5, features_range: dict[str, list[float]] = None, absolute: bool = False, order: str = 'sorted', normalize: bool = True, clip: bool = True, see_behind: bool = False, observe_intentions: bool = False, include_obstacles: bool = True, **kwargs: dict)[source]¶
 
Specific to exit_env, observe the distance to the next exit lane as part of a KinematicObservation.

 

 
Parameters:

diff --git a/searchindex.js b/searchindex.js
index 76be2f5da..6e25b26f2 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"alltitles": {"404": [[0, null]], "API": [[1, "module-highway_env.envs.common.action"], [4, "module-highway_env.road.lane"], [5, "module-highway_env.road.regulation"], [6, "module-highway_env.road.road"], [7, "module-highway_env.vehicle.behavior"], [8, "module-highway_env.vehicle.controller"], [9, "module-highway_env.vehicle.kinematics"], [10, "api"], [12, "api"], [13, "api"], [14, "api"], [15, "api"], [16, "api"], [18, "module-highway_env.envs.common.graphics"], [21, "module-highway_env.__init__"], [23, "module-highway_env.envs.common.observation"]], "Actions": [[1, null]], "All the environments": [[24, "all-the-environments"]], "Behavior": [[7, null]], "Bibliography": [[2, null]], "Change the action space": [[22, "change-the-action-space"]], "Change the observation space": [[22, "change-the-observation-space"]], "Configuring an environment": [[24, "configuring-an-environment"]], "Continuous Actions": [[1, "continuous-actions"]], "Control": [[8, null]], "Create the scene": [[21, "create-the-scene"]], "Create the vehicles": [[21, "create-the-vehicles"]], "Default configuration": [[10, "default-configuration"], [12, "default-configuration"], [13, "default-configuration"], [14, "default-configuration"], [15, "default-configuration"], [16, "default-configuration"]], "Development version": [[20, "development-version"]], "Discrete Actions": [[1, "discrete-actions"]], "Discrete Meta-Actions": [[1, "discrete-meta-actions"]], "Dynamics": [[3, null]], "Example configuration": [[23, "example-configuration"], [23, "grayscale-example-configuration"], [23, "id4"], [23, "id5"], [23, "id6"]], "Examples on Google Colab": [[24, "examples-on-google-colab"]], "Faster variant": [[10, "faster-variant"]], "Frequently Asked Questions": [[17, null]], "Getting Started": [[24, null]], "Goal environments": [[25, "goal-environments"]], "Graphics": [[18, null]], "Grayscale Image": [[23, "grayscale-image"]], "Heading control": [[8, "heading-control"]], "Highway": [[10, null]], "How to cite this work?": [[19, "how-to-cite-this-work"]], "I try to train an agent using the Kinematics Observation and an MLP model, but the resulting policy is not optimal. Why?": [[17, "i-try-to-train-an-agent-using-the-kinematics-observation-and-an-mlp-model-but-the-resulting-policy-is-not-optimal-why"]], "Illustration of the stack mechanism": [[23, "illustration-of-the-stack-mechanism"]], "Increase the number of controlled vehicles": [[22, "increase-the-number-of-controlled-vehicles"]], "Installation": [[20, null]], "Intersection": [[12, null]], "Kinematics": [[9, null], [23, "kinematics"]], "Lane": [[4, null]], "Lateral Behavior": [[7, "lateral-behavior"]], "Lateral controller": [[8, "lateral-controller"]], "Lidar": [[23, "lidar"]], "Longitudinal Behavior": [[7, "longitudinal-behavior"]], "Longitudinal controller": [[8, "longitudinal-controller"]], "Make the environment configurable": [[21, "make-the-environment-configurable"]], "Make your own environment": [[21, null]], "Making an environment": [[24, "making-an-environment"]], "Manual control": [[1, "manual-control"]], "Merge": [[13, null]], "Most environments": [[25, "most-environments"]], "My videos are too fast / have a low framerate.": [[17, "my-videos-are-too-fast-have-a-low-framerate"]], "Observations": [[23, null]], "Occupancy grid": [[23, "occupancy-grid"]], "Page Not Found": [[0, "page-not-found"]], "Parking": [[14, null]], "Position control": [[8, "position-control"]], "Prerequisites": [[20, "prerequisites"]], "Profit": [[21, "profit"]], "Racetrack": [[15, null]], "Register the environment": [[21, "register-the-environment"]], "Rewards": [[25, null]], "Road": [[6, null]], "Road regulation": [[5, null]], "Roads": [[3, "roads"]], "Roundabout": [[16, null]], "Scene graphics": [[18, "scene-graphics"]], "Set up files": [[21, "set-up-files"]], "Stable release": [[20, "stable-release"]], "The Multi-Agent setting": [[22, null]], "The environments": [[11, null]], "Time to collision": [[23, "time-to-collision"]], "Training an agent": [[24, "training-an-agent"]], "Ubuntu": [[20, "ubuntu"]], "Usage": [[10, "usage"], [12, "usage"], [13, "usage"], [14, "usage"], [15, "usage"], [16, "usage"]], "User Guide": [[26, null]], "Vehicles": [[3, "vehicles"]], "Welcome to highway-env\u2019s documentation!": [[19, null]], "When I try to make an environment, I get an error gymnasium.error.NameNotFound: Environment highway doesn't exist.": [[17, "when-i-try-to-make-an-environment-i-get-an-error-gymnasium-error-namenotfound-environment-highway-doesn-t-exist"]], "Windows 10": [[20, "windows-10"]], "World surface": [[18, "world-surface"]], "Wrapping it up": [[22, "wrapping-it-up"]], "presence feature: one vehicle is close to the north, and one is farther to the east.": [[23, "id7"]], "the Lidar observation": [[23, "id9"]], "v_x feature: the north vehicle drives at the same speed as the ego-vehicle, and the east vehicle a bit slower": [[23, "id8"]]}, "docnames": ["404", "actions/index", "bibliography/index", "dynamics/index", "dynamics/road/lane", "dynamics/road/regulation", "dynamics/road/road", "dynamics/vehicle/behavior", "dynamics/vehicle/controller", 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