Merge branch 'master' into zoo-8

CHANGELOG.md

@@ -13,7 +13,12 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### Changed
 ### Deprecated
 ### Fixed
+- Fixed an issue where `SMARTS` might not be explicitly destroyed in the `ros_driver`.
 - Fixed issue where `SumoTrafficSimulation` could get locked up on reset if a scenario had only 1 map but multiple scenario variations.
+- Fixed an issue where an out-of-scope method reference caused a pickling error.
+- Fixed an issue where the `EnvisionDataFormatterArgs` default would use a locally defined lambda and cause a serialization failure.
+- Fixed an issue where user configuration was being overridden.
+- Fixed a `pkg_resources` deprecation warning in `python3.10` and up.
 ### Removed
 ### Security
 

docs/setup.rst

@@ -15,12 +15,32 @@ Demo Video
 Prerequisites
 -------------
 
-+ ``python3 (3.8 or 3.9)``
++ ``python3 (3.8, 3.9, 3.10, 3.11)``
 + ``ubuntu (>=16.04)``
 
 Installation
 ------------
 
+Package
+^^^^^^^
+
+This includes SMARTS but none of the examples.
+
+.. code-block:: bash
+
+    # For Mac OS X users, ensure XQuartz is pre-installed.
+    # Install the system requirements. You may use the `-y` option to enable
+    # automatic assumption of "yes" to all prompts to avoid timeout from 
+    # waiting for user input. 
+    $ bash utils/setup/install_deps.sh
+
+    # This should install the latest version of SMARTS from package index (generally PyPI).
+    $ pip install 'smarts[camera_obs,sumo,example]'
+
+
+Development
+^^^^^^^^^^^
+
 Run the following commands to setup the SMARTS simulator.
 
 .. code-block:: bash
@@ -61,9 +81,11 @@ Run the following commands to setup the SMARTS simulator.
     # Install smarts with extras as needed. Extras include the following: 
     # `camera_obs` - needed for rendering camera observations, and for testing.
     # `sumo` - needed for using SUMO scenarios.
-    # `test` - needed for testing.
+    # `test` - needed for running tests.
     # `example` - needed for running examples.
-    $ pip install -e .[camera_obs,sumo,test,example]
+    # `--config-settings editable_mode=strict` - may be needed depending on version of setuptools. 
+    #      See https://github.com/huawei-noah/SMARTS/issues/2090.
+    $ pip install -e '.[camera_obs,sumo,test,example]' --config-settings editable_mode=strict
 
     # Run sanity-test and verify they are passing.
     # If tests fail, check './sanity_test_result.xml' for test report. 

envision/client_config.py

@@ -36,6 +36,10 @@ class SingleAttributeOverride(NamedTuple):
     """The maximum number of elements an iterable attribute can contain."""
 
 
+def _default_override():
+    return SingleAttributeOverride(True, None)
+
+
 @dataclass(frozen=True)
 class EnvisionStateFilter:
     """A state filtering tool."""
@@ -49,7 +53,4 @@ class EnvisionStateFilter:
     def default(cls):
         """Give a new default filter."""
 
-        def default_override():
-            return SingleAttributeOverride(True, None)
-
-        return cls(defaultdict(default_override), defaultdict(default_override))
+        return cls(defaultdict(_default_override), defaultdict(_default_override))

envision/data_formatter.py

@@ -75,6 +75,10 @@ class Operation(IntEnum):
 _primitives = {int, float, str, VehicleType, TrafficActorType}
 
 
+def _passthrough_method_1_arg(v):
+    return v
+
+
 class ReductionContext:
     """Mappings between an object and its reduction to an ID."""
 
@@ -126,7 +130,7 @@ class EnvisionDataFormatterArgs(NamedTuple):
     """Data formatter configurations."""
 
     id: Optional[str]
-    serializer: Callable[[list], Any] = lambda d: d
+    serializer: Callable[[list], Any] = _passthrough_method_1_arg
     float_decimals: int = 2
     bool_as_int: bool = True
     enable_reduction: bool = True

envision/server.py

@@ -50,9 +50,6 @@
 from envision.web import dist as web_dist
 from smarts.core.utils.file import path2hash
 
-logging.basicConfig(level=logging.WARNING)
-
-
 # Mapping of simulation IDs to a set of web client run loops
 WEB_CLIENT_RUN_LOOPS = {}
 

envision/tests/test_data_replay.py

@@ -42,11 +42,13 @@
 TIMESTEP_SEC = 0.1
 
 
+class KeepLaneAgent(Agent):
+    def act(self, obs):
+        return "keep_lane"
+
+
 @pytest.fixture
 def agent_spec():
-    class KeepLaneAgent(Agent):
-        def act(self, obs):
-            return "keep_lane"
 
     return AgentSpec(
         interface=AgentInterface.from_type(

examples/e2_single_agent.py

@@ -1,11 +1,17 @@
 """This example shows how you might run a SMARTS environment for single-agent work. SMARTS is
 natively multi-agent so a single-agent wrapper is used."""
 import argparse
+import logging
 import random
 import sys
+import warnings
 from pathlib import Path
 from typing import Final
 
+logging.basicConfig(level=logging.ERROR)
+warnings.filterwarnings("ignore")
+
+
 import gymnasium as gym
 
 SMARTS_REPO_PATH = Path(__file__).parents[1].absolute()

examples/replay/replay_klws_agent.py

@@ -14,8 +14,6 @@
 from smarts.env.utils.observation_conversion import ObservationOptions
 from smarts.zoo.registry import make as zoo_make
 
-logging.basicConfig(level=logging.INFO)
-
 AGENT_ID = "Agent-007"
 
 
@@ -116,6 +114,7 @@ def main(scenarios, sim_name, headless, seed, speed, max_steps, save_dir, write)
 
 
 if __name__ == "__main__":
+    logging.basicConfig(level=logging.INFO)
     parser = default_argument_parser("klws-agent-example")
     parser.add_argument(
         "--speed",

requirements.txt

@@ -3,86 +3,86 @@ aiosignal==1.3.1
 astunparse==1.6.3
 attrs==23.1.0
 Automat==22.10.0
-cachetools==5.3.1
+cachetools==5.3.2
 certifi==2023.7.22
-charset-normalizer==3.2.0
+charset-normalizer==3.3.2
 click==8.1.7
-cloudpickle==2.2.1
-cmake==3.27.5
-constantly==15.1.0
-coverage==7.3.1
+cloudpickle==3.0.0
+constantly==23.10.4
+coverage==7.3.2
 decorator==5.1.1
 dm-tree==0.1.8
 exceptiongroup==1.1.3
 execnet==2.0.2
-filelock==3.12.4
+filelock==3.13.1
 flatbuffers==23.5.26
 frozenlist==1.4.0
+fsspec==2023.10.0
 future==0.18.3
 gast==0.4.0
-google-auth==2.23.1
+google-auth==2.23.4
 google-auth-oauthlib==1.0.0
 google-pasta==0.2.0
 grpcio==1.51.3
 Gymnasium==0.26.3
 gymnasium-notices==0.0.1
-h5py==3.9.0
+h5py==3.10.0
 hyperlink==21.0.0
 idna==3.4
-imageio==2.31.4
+imageio==2.32.0
 importlib-metadata==6.8.0
-importlib-resources==6.1.0
+importlib-resources==6.1.1
 incremental==22.10.0
 iniconfig==2.0.0
 Jinja2==3.1.2
-jsonschema==4.19.1
+jsonschema==4.19.2
 jsonschema-specifications==2023.7.1
 keras==2.13.1
 lazy_loader==0.3
 libclang==16.0.6
-lit==17.0.1
 lz4==4.3.2
-Markdown==3.4.4
+Markdown==3.5.1
 markdown-it-py==3.0.0
 MarkupSafe==2.1.3
 mdurl==0.1.2
 mpmath==1.3.0
 msgpack==1.0.7
 networkx==3.1
 numpy==1.24.3
-nvidia-cublas-cu11==11.10.3.66
-nvidia-cuda-cupti-cu11==11.7.101
-nvidia-cuda-nvrtc-cu11==11.7.99
-nvidia-cuda-runtime-cu11==11.7.99
-nvidia-cudnn-cu11==8.5.0.96
-nvidia-cufft-cu11==10.9.0.58
-nvidia-curand-cu11==10.2.10.91
-nvidia-cusolver-cu11==11.4.0.1
-nvidia-cusparse-cu11==11.7.4.91
-nvidia-nccl-cu11==2.14.3
-nvidia-nvtx-cu11==11.7.91
+nvidia-cublas-cu12==12.1.3.1
+nvidia-cuda-cupti-cu12==12.1.105
+nvidia-cuda-nvrtc-cu12==12.1.105
+nvidia-cuda-runtime-cu12==12.1.105
+nvidia-cudnn-cu12==8.9.2.26
+nvidia-cufft-cu12==11.0.2.54
+nvidia-curand-cu12==10.3.2.106
+nvidia-cusolver-cu12==11.4.5.107
+nvidia-cusparse-cu12==12.1.0.106
+nvidia-nccl-cu12==2.18.1
+nvidia-nvjitlink-cu12==12.3.52
+nvidia-nvtx-cu12==12.1.105
 oauthlib==3.2.2
 opencv-python==4.8.1.78
 opencv-python-headless==4.8.1.78
 opt-einsum==3.3.0
-packaging==23.1
+packaging==23.2
 Panda3D==1.10.13
 panda3d-gltf==0.13
 panda3d-simplepbr==0.10
 pandas==2.0.3
 Pillow==10.0.1
 pkgutil_resolve_name==1.3.10
 pluggy==1.3.0
-protobuf==4.24.3
-psutil==5.9.5
+protobuf==4.25.0
+psutil==5.9.6
 py==1.11.0
 py-cpuinfo==9.0.0
-pyarrow==13.0.0
+pyarrow==14.0.1
 pyasn1==0.5.0
 pyasn1-modules==0.3.0
 pybullet==3.2.5
 Pygments==2.16.1
-pytest==7.4.2
+pytest==7.4.3
 pytest-benchmark==4.0.0
 pytest-cov==4.1.0
 pytest-forked==1.6.0
@@ -95,17 +95,17 @@ ray==2.5.1
 referencing==0.30.2
 requests==2.31.0
 requests-oauthlib==1.3.1
-rich==13.5.3
-rpds-py==0.10.3
+rich==13.6.0
+rpds-py==0.12.0
 rsa==4.9
 scikit-image==0.21.0
 scipy==1.10.1
-shapely==2.0.1
+shapely==2.0.2
 six==1.16.0
 sympy==1.12
 tableprint==0.9.1
 tensorboard==2.13.0
-tensorboard-data-server==0.7.1
+tensorboard-data-server==0.7.2
 tensorboardX==2.6.2.2
 tensorflow==2.13.1
 tensorflow-estimator==2.13.0
@@ -114,18 +114,18 @@ tensorflow-probability==0.21.0
 termcolor==2.3.0
 tifffile==2023.7.10
 tomli==2.0.1
-torch==2.0.1
-torchvision==0.15.2
-trimesh==3.23.5
-triton==2.0.0
-Twisted==23.8.0
+torch==2.1.0
+torchvision==0.16.0
+trimesh==4.0.3
+triton==2.1.0
+Twisted==23.10.0
 typer==0.9.0
 typing_extensions==4.5.0
 tzdata==2023.3
-urllib3==2.0.5
-wcwidth==0.2.6
-Werkzeug==2.3.7
-wrapt==1.15.0
-yattag==1.15.1
+urllib3==2.0.7
+wcwidth==0.2.9
+Werkzeug==3.0.1
+wrapt==1.16.0
+yattag==1.15.2
 zipp==3.17.0
-zope.interface==6.0
+zope.interface==6.1

smarts/__init__.py

@@ -18,8 +18,13 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 
+try:
+    from importlib.metadata import version
 
-import pkg_resources
+    VERSION = version("smarts")
+except:
+    # This is now deprecated `https://setuptools.pypa.io/en/latest/pkg_resources.html`
+    import pkg_resources
 
-# The full version, including alpha/beta/rc tags
-VERSION = pkg_resources.get_distribution("smarts").version
+    # The full version, including alpha/beta/rc tags
+    VERSION = pkg_resources.get_distribution("smarts").version

smarts/core/agent.py

@@ -21,8 +21,6 @@
 import warnings
 from typing import Any, Callable
 
-warnings.simplefilter("once")
-
 logger = logging.getLogger(__name__)
 
 

smarts/ros/src/smarts_ros/scripts/ros_driver.py

@@ -684,15 +684,15 @@ def run_forever(self):
 
                     self._publish_state()
                     self._publish_agents(observations, dones)
-                except Exception as e:
-                    if isinstance(e, rospy.ROSInterruptException):
-                        raise e
+                except Exception as ex:
+                    if isinstance(ex, rospy.ROSInterruptException):
+                        raise ex
                     batch_mode = rospy.get_param("~batch_mode", False)
                     if not batch_mode:
-                        raise e
+                        raise ex
                     import traceback
 
-                    rospy.logerr(f"SMARTS raised exception:  {e}")
+                    rospy.logerr(f"SMARTS raised exception:  {ex}")
                     rospy.logerr(traceback.format_exc())
                     rospy.logerr("Will wait for next reset...")
                     self._smarts = None
@@ -712,8 +712,8 @@ def run_forever(self):
 
         except rospy.ROSInterruptException:
             rospy.loginfo("ROS interrupted.  exiting...")
-
-        self._reset()  # cleans up the SMARTS instance...
+        finally:
+            self._reset()  # cleans up the SMARTS instance...
 
 
 if __name__ == "__main__":

smarts/zoo/agent_spec.py

@@ -27,8 +27,6 @@
 from smarts.core.agent import Agent
 from smarts.core.agent_interface import AgentInterface
 
-warnings.simplefilter("once")
-
 
 @dataclass
 class AgentSpec(object):