From 03e781905e00cffeef7b1555e6b6f690121c32f8 Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Mon, 9 Oct 2023 23:09:27 +0000
Subject: [PATCH 01/16] GitHub Actions: Update mac_requirements.txt

---
 utils/setup/mac_requirements.txt | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/utils/setup/mac_requirements.txt b/utils/setup/mac_requirements.txt
index a240aaf5a0..94de53cac2 100644
--- a/utils/setup/mac_requirements.txt
+++ b/utils/setup/mac_requirements.txt
@@ -17,15 +17,16 @@ execnet==2.0.2
 filelock==3.12.4
 flatbuffers==23.5.26
 frozenlist==1.4.0
+fsspec==2023.9.2
 future==0.18.3
 gast==0.4.0
-google-auth==2.23.2
+google-auth==2.23.3
 google-auth-oauthlib==1.0.0
 google-pasta==0.2.0
 grpcio==1.49.1
 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==2.31.5
@@ -40,7 +41,7 @@ keras==2.13.1
 lazy_loader==0.3
 libclang==16.0.6
 lz4==4.3.2
-Markdown==3.4.4
+Markdown==3.5
 markdown-it-py==3.0.0
 MarkupSafe==2.1.3
 mdurl==0.1.2
@@ -60,7 +61,7 @@ pandas==2.0.3
 Pillow==10.0.1
 pkgutil_resolve_name==1.3.10
 pluggy==1.3.0
-protobuf==4.24.3
+protobuf==4.24.4
 psutil==5.9.5
 py==1.11.0
 py-cpuinfo==9.0.0
@@ -83,7 +84,7 @@ referencing==0.30.2
 requests==2.31.0
 requests-oauthlib==1.3.1
 rich==13.6.0
-rpds-py==0.10.3
+rpds-py==0.10.4
 rsa==4.9
 scikit-image==0.21.0
 scipy==1.10.1
@@ -101,8 +102,8 @@ 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
+torch==2.1.0
+torchvision==0.16.0
 trimesh==3.23.5
 Twisted==23.8.0
 typer==0.9.0
@@ -114,4 +115,4 @@ Werkzeug==3.0.0
 wrapt==1.15.0
 yattag==1.15.1
 zipp==3.17.0
-zope.interface==6.0
+zope.interface==6.1

From 2dcef1b4a6d2f4632ad31c5ab07b55d083b40781 Mon Sep 17 00:00:00 2001
From: Tucker Alban <montgomery.alban@huawei.com>
Date: Wed, 11 Oct 2023 10:37:24 -0400
Subject: [PATCH 02/16] Update installation documentation. (#2093)

---
 docs/setup.rst | 28 +++++++++++++++++++++++++---
 1 file changed, 25 insertions(+), 3 deletions(-)

diff --git a/docs/setup.rst b/docs/setup.rst
index 09d3163f16..851ae5bef1 100644
--- a/docs/setup.rst
+++ b/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. 

From ffa85d91a9903d4341d9f72a1b28f41055cf4178 Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Wed, 11 Oct 2023 14:43:47 +0000
Subject: [PATCH 03/16] GitHub Actions: Update requirements.txt

---
 requirements.txt | 60 ++++++++++++++++++++++++------------------------
 1 file changed, 30 insertions(+), 30 deletions(-)

diff --git a/requirements.txt b/requirements.txt
index 0b08c89a22..56758d28f3 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -5,12 +5,11 @@ attrs==23.1.0
 Automat==22.10.0
 cachetools==5.3.1
 certifi==2023.7.22
-charset-normalizer==3.2.0
+charset-normalizer==3.3.0
 click==8.1.7
 cloudpickle==2.2.1
-cmake==3.27.5
 constantly==15.1.0
-coverage==7.3.1
+coverage==7.3.2
 decorator==5.1.1
 dm-tree==0.1.8
 exceptiongroup==1.1.3
@@ -18,18 +17,19 @@ execnet==2.0.2
 filelock==3.12.4
 flatbuffers==23.5.26
 frozenlist==1.4.0
+fsspec==2023.9.2
 future==0.18.3
 gast==0.4.0
-google-auth==2.23.1
+google-auth==2.23.3
 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==2.31.5
 importlib-metadata==6.8.0
 importlib-resources==6.1.0
 incremental==22.10.0
@@ -40,9 +40,8 @@ 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
 markdown-it-py==3.0.0
 MarkupSafe==2.1.3
 mdurl==0.1.2
@@ -50,22 +49,23 @@ 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==12.2.140
+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
@@ -73,7 +73,7 @@ pandas==2.0.3
 Pillow==10.0.1
 pkgutil_resolve_name==1.3.10
 pluggy==1.3.0
-protobuf==4.24.3
+protobuf==4.24.4
 psutil==5.9.5
 py==1.11.0
 py-cpuinfo==9.0.0
@@ -95,8 +95,8 @@ 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==0.10.4
 rsa==4.9
 scikit-image==0.21.0
 scipy==1.10.1
@@ -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
+torch==2.1.0
+torchvision==0.16.0
 trimesh==3.23.5
-triton==2.0.0
+triton==2.1.0
 Twisted==23.8.0
 typer==0.9.0
 typing_extensions==4.5.0
 tzdata==2023.3
-urllib3==2.0.5
-wcwidth==0.2.6
-Werkzeug==2.3.7
+urllib3==2.0.6
+wcwidth==0.2.8
+Werkzeug==3.0.0
 wrapt==1.15.0
 yattag==1.15.1
 zipp==3.17.0
-zope.interface==6.0
+zope.interface==6.1

From 9d7d2a54cf5873cf0c981915f926428371718f4f Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Mon, 16 Oct 2023 23:11:11 +0000
Subject: [PATCH 04/16] GitHub Actions: Update mac_requirements.txt

---
 utils/setup/mac_requirements.txt | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/utils/setup/mac_requirements.txt b/utils/setup/mac_requirements.txt
index 94de53cac2..0ae35c24d0 100644
--- a/utils/setup/mac_requirements.txt
+++ b/utils/setup/mac_requirements.txt
@@ -7,7 +7,7 @@ cachetools==5.3.1
 certifi==2023.7.22
 charset-normalizer==3.3.0
 click==8.1.7
-cloudpickle==2.2.1
+cloudpickle==3.0.0
 constantly==15.1.0
 coverage==7.3.2
 decorator==5.1.1
@@ -58,11 +58,11 @@ Panda3D==1.10.13
 panda3d-gltf==0.13
 panda3d-simplepbr==0.10
 pandas==2.0.3
-Pillow==10.0.1
+Pillow==10.1.0
 pkgutil_resolve_name==1.3.10
 pluggy==1.3.0
 protobuf==4.24.4
-psutil==5.9.5
+psutil==5.9.6
 py==1.11.0
 py-cpuinfo==9.0.0
 pyarrow==13.0.0
@@ -84,11 +84,11 @@ referencing==0.30.2
 requests==2.31.0
 requests-oauthlib==1.3.1
 rich==13.6.0
-rpds-py==0.10.4
+rpds-py==0.10.6
 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
@@ -104,7 +104,7 @@ tifffile==2023.7.10
 tomli==2.0.1
 torch==2.1.0
 torchvision==0.16.0
-trimesh==3.23.5
+trimesh==4.0.0
 Twisted==23.8.0
 typer==0.9.0
 typing_extensions==4.5.0

From 7bb8c065317c0898d07cc28304b26e9f4b465f3a Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Mon, 23 Oct 2023 23:11:53 +0000
Subject: [PATCH 05/16] GitHub Actions: Update mac_requirements.txt

---
 utils/setup/mac_requirements.txt | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/utils/setup/mac_requirements.txt b/utils/setup/mac_requirements.txt
index 0ae35c24d0..a2adee3d7c 100644
--- a/utils/setup/mac_requirements.txt
+++ b/utils/setup/mac_requirements.txt
@@ -5,7 +5,7 @@ attrs==23.1.0
 Automat==22.10.0
 cachetools==5.3.1
 certifi==2023.7.22
-charset-normalizer==3.3.0
+charset-normalizer==3.3.1
 click==8.1.7
 cloudpickle==3.0.0
 constantly==15.1.0
@@ -17,7 +17,7 @@ execnet==2.0.2
 filelock==3.12.4
 flatbuffers==23.5.26
 frozenlist==1.4.0
-fsspec==2023.9.2
+fsspec==2023.10.0
 future==0.18.3
 gast==0.4.0
 google-auth==2.23.3
@@ -29,7 +29,7 @@ gymnasium-notices==0.0.1
 h5py==3.10.0
 hyperlink==21.0.0
 idna==3.4
-imageio==2.31.5
+imageio==2.31.6
 importlib-metadata==6.8.0
 importlib-resources==6.1.0
 incremental==22.10.0
@@ -58,7 +58,7 @@ Panda3D==1.10.13
 panda3d-gltf==0.13
 panda3d-simplepbr==0.10
 pandas==2.0.3
-Pillow==10.1.0
+Pillow==10.0.1
 pkgutil_resolve_name==1.3.10
 pluggy==1.3.0
 protobuf==4.24.4
@@ -93,7 +93,7 @@ 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
@@ -109,7 +109,7 @@ Twisted==23.8.0
 typer==0.9.0
 typing_extensions==4.5.0
 tzdata==2023.3
-urllib3==2.0.6
+urllib3==2.0.7
 wcwidth==0.2.8
 Werkzeug==3.0.0
 wrapt==1.15.0

From 66b30d344e1fbbb8f2d64a94b0566d4fbdc9dd52 Mon Sep 17 00:00:00 2001
From: Tucker Alban <montgomery.alban@huawei.com>
Date: Mon, 30 Oct 2023 11:23:25 -0400
Subject: [PATCH 06/16] Fix pickling error. (#2100)

---
 CHANGELOG.md                       | 1 +
 envision/client_config.py          | 9 +++++----
 envision/tests/test_data_replay.py | 8 +++++---
 3 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 19a30f68d3..25aabc7812 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### Deprecated
 ### Fixed
 - 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.
 ### Removed
 ### Security
 
diff --git a/envision/client_config.py b/envision/client_config.py
index 9e5078a055..b5e6155cbf 100644
--- a/envision/client_config.py
+++ b/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))
diff --git a/envision/tests/test_data_replay.py b/envision/tests/test_data_replay.py
index a98bbe5c2c..5ac7b44a5c 100644
--- a/envision/tests/test_data_replay.py
+++ b/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(

From 0de1d9cb03f37325a5600337485286f2e6c09f73 Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Mon, 30 Oct 2023 15:29:05 +0000
Subject: [PATCH 07/16] GitHub Actions: Update requirements.txt

---
 requirements.txt | 36 ++++++++++++++++++------------------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/requirements.txt b/requirements.txt
index 56758d28f3..eda3f645ff 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -3,21 +3,21 @@ 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==3.3.0
+charset-normalizer==3.3.1
 click==8.1.7
-cloudpickle==2.2.1
-constantly==15.1.0
+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==3.13.0
 flatbuffers==23.5.26
 frozenlist==1.4.0
-fsspec==2023.9.2
+fsspec==2023.10.0
 future==0.18.3
 gast==0.4.0
 google-auth==2.23.3
@@ -29,13 +29,13 @@ gymnasium-notices==0.0.1
 h5py==3.10.0
 hyperlink==21.0.0
 idna==3.4
-imageio==2.31.5
+imageio==2.31.6
 importlib-metadata==6.8.0
 importlib-resources==6.1.0
 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
@@ -59,7 +59,7 @@ 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==12.2.140
+nvidia-nvjitlink-cu12==12.3.52
 nvidia-nvtx-cu12==12.1.105
 oauthlib==3.2.2
 opencv-python==4.8.1.78
@@ -74,7 +74,7 @@ Pillow==10.0.1
 pkgutil_resolve_name==1.3.10
 pluggy==1.3.0
 protobuf==4.24.4
-psutil==5.9.5
+psutil==5.9.6
 py==1.11.0
 py-cpuinfo==9.0.0
 pyarrow==13.0.0
@@ -82,7 +82,7 @@ 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
@@ -96,16 +96,16 @@ referencing==0.30.2
 requests==2.31.0
 requests-oauthlib==1.3.1
 rich==13.6.0
-rpds-py==0.10.4
+rpds-py==0.10.6
 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
@@ -116,16 +116,16 @@ tifffile==2023.7.10
 tomli==2.0.1
 torch==2.1.0
 torchvision==0.16.0
-trimesh==3.23.5
+trimesh==4.0.1
 triton==2.1.0
 Twisted==23.8.0
 typer==0.9.0
 typing_extensions==4.5.0
 tzdata==2023.3
-urllib3==2.0.6
+urllib3==2.0.7
 wcwidth==0.2.8
-Werkzeug==3.0.0
+Werkzeug==3.0.1
 wrapt==1.15.0
-yattag==1.15.1
+yattag==1.15.2
 zipp==3.17.0
 zope.interface==6.1

From fc90e72443e71e82a53503a39825a7801bfda38e Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Mon, 30 Oct 2023 23:09:45 +0000
Subject: [PATCH 08/16] GitHub Actions: Update mac_requirements.txt

---
 utils/setup/mac_requirements.txt | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/utils/setup/mac_requirements.txt b/utils/setup/mac_requirements.txt
index a2adee3d7c..60207aae66 100644
--- a/utils/setup/mac_requirements.txt
+++ b/utils/setup/mac_requirements.txt
@@ -3,18 +3,18 @@ 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==3.3.1
 click==8.1.7
 cloudpickle==3.0.0
-constantly==15.1.0
+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
@@ -35,7 +35,7 @@ importlib-resources==6.1.0
 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
@@ -70,7 +70,7 @@ 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
@@ -104,15 +104,15 @@ tifffile==2023.7.10
 tomli==2.0.1
 torch==2.1.0
 torchvision==0.16.0
-trimesh==4.0.0
+trimesh==4.0.1
 Twisted==23.8.0
 typer==0.9.0
 typing_extensions==4.5.0
 tzdata==2023.3
 urllib3==2.0.7
-wcwidth==0.2.8
-Werkzeug==3.0.0
+wcwidth==0.2.9
+Werkzeug==3.0.1
 wrapt==1.15.0
-yattag==1.15.1
+yattag==1.15.2
 zipp==3.17.0
 zope.interface==6.1

From 98bfa4bf3de6ffb75f338254d11ee4459ff93016 Mon Sep 17 00:00:00 2001
From: Tucker Alban <montgomery.alban@huawei.com>
Date: Wed, 1 Nov 2023 15:48:24 -0400
Subject: [PATCH 09/16] Fix lambda cannot be serialized. (#2102)

* Fix issue where a lambda cannot be serialized.

* Update changelog.

* Make format.
---
 CHANGELOG.md               | 1 +
 envision/data_formatter.py | 6 +++++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 25aabc7812..8720e3399f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,6 +15,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### Fixed
 - 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.
 ### Removed
 ### Security
 
diff --git a/envision/data_formatter.py b/envision/data_formatter.py
index 1a0dae4e36..3e8a124bac 100644
--- a/envision/data_formatter.py
+++ b/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

From e6f9f95ca8abc160b84f6da5710867ffcbdd2211 Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Wed, 1 Nov 2023 19:54:11 +0000
Subject: [PATCH 10/16] GitHub Actions: Update requirements.txt

---
 requirements.txt | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/requirements.txt b/requirements.txt
index eda3f645ff..185d7301f1 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -5,7 +5,7 @@ attrs==23.1.0
 Automat==22.10.0
 cachetools==5.3.2
 certifi==2023.7.22
-charset-normalizer==3.3.1
+charset-normalizer==3.3.2
 click==8.1.7
 cloudpickle==3.0.0
 constantly==23.10.4
@@ -14,13 +14,13 @@ decorator==5.1.1
 dm-tree==0.1.8
 exceptiongroup==1.1.3
 execnet==2.0.2
-filelock==3.13.0
+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==2.23.3
+google-auth==2.23.4
 google-auth-oauthlib==1.0.0
 google-pasta==0.2.0
 grpcio==1.51.3
@@ -41,7 +41,7 @@ keras==2.13.1
 lazy_loader==0.3
 libclang==16.0.6
 lz4==4.3.2
-Markdown==3.5
+Markdown==3.5.1
 markdown-it-py==3.0.0
 MarkupSafe==2.1.3
 mdurl==0.1.2
@@ -77,7 +77,7 @@ protobuf==4.24.4
 psutil==5.9.6
 py==1.11.0
 py-cpuinfo==9.0.0
-pyarrow==13.0.0
+pyarrow==14.0.0
 pyasn1==0.5.0
 pyasn1-modules==0.3.0
 pybullet==3.2.5
@@ -116,14 +116,14 @@ tifffile==2023.7.10
 tomli==2.0.1
 torch==2.1.0
 torchvision==0.16.0
-trimesh==4.0.1
+trimesh==4.0.2
 triton==2.1.0
-Twisted==23.8.0
+Twisted==23.10.0
 typer==0.9.0
 typing_extensions==4.5.0
 tzdata==2023.3
 urllib3==2.0.7
-wcwidth==0.2.8
+wcwidth==0.2.9
 Werkzeug==3.0.1
 wrapt==1.15.0
 yattag==1.15.2

From 0f4a739d9ae2350cc53acbbbfac06f7c2dc58b75 Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Mon, 6 Nov 2023 23:09:31 +0000
Subject: [PATCH 11/16] GitHub Actions: Update mac_requirements.txt

---
 utils/setup/mac_requirements.txt | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/utils/setup/mac_requirements.txt b/utils/setup/mac_requirements.txt
index 60207aae66..6d1aec02ac 100644
--- a/utils/setup/mac_requirements.txt
+++ b/utils/setup/mac_requirements.txt
@@ -5,7 +5,7 @@ attrs==23.1.0
 Automat==22.10.0
 cachetools==5.3.2
 certifi==2023.7.22
-charset-normalizer==3.3.1
+charset-normalizer==3.3.2
 click==8.1.7
 cloudpickle==3.0.0
 constantly==23.10.4
@@ -20,7 +20,7 @@ frozenlist==1.4.0
 fsspec==2023.10.0
 future==0.18.3
 gast==0.4.0
-google-auth==2.23.3
+google-auth==2.23.4
 google-auth-oauthlib==1.0.0
 google-pasta==0.2.0
 grpcio==1.49.1
@@ -29,7 +29,7 @@ gymnasium-notices==0.0.1
 h5py==3.10.0
 hyperlink==21.0.0
 idna==3.4
-imageio==2.31.6
+imageio==2.32.0
 importlib-metadata==6.8.0
 importlib-resources==6.1.0
 incremental==22.10.0
@@ -41,7 +41,7 @@ keras==2.13.1
 lazy_loader==0.3
 libclang==16.0.6
 lz4==4.3.2
-Markdown==3.5
+Markdown==3.5.1
 markdown-it-py==3.0.0
 MarkupSafe==2.1.3
 mdurl==0.1.2
@@ -61,11 +61,11 @@ pandas==2.0.3
 Pillow==10.0.1
 pkgutil_resolve_name==1.3.10
 pluggy==1.3.0
-protobuf==4.24.4
+protobuf==4.25.0
 psutil==5.9.6
 py==1.11.0
 py-cpuinfo==9.0.0
-pyarrow==13.0.0
+pyarrow==14.0.0
 pyasn1==0.5.0
 pyasn1-modules==0.3.0
 pybullet==3.2.5
@@ -84,7 +84,7 @@ referencing==0.30.2
 requests==2.31.0
 requests-oauthlib==1.3.1
 rich==13.6.0
-rpds-py==0.10.6
+rpds-py==0.12.0
 rsa==4.9
 scikit-image==0.21.0
 scipy==1.10.1
@@ -104,8 +104,8 @@ tifffile==2023.7.10
 tomli==2.0.1
 torch==2.1.0
 torchvision==0.16.0
-trimesh==4.0.1
-Twisted==23.8.0
+trimesh==4.0.2
+Twisted==23.10.0
 typer==0.9.0
 typing_extensions==4.5.0
 tzdata==2023.3

From e3a1a7650a9cc3633cf6891a03cfd1c3180b7e88 Mon Sep 17 00:00:00 2001
From: Tucker Alban <montgomery.alban@huawei.com>
Date: Tue, 7 Nov 2023 08:10:55 -0500
Subject: [PATCH 12/16] Prevent user warning configuration from being
 overwritten. (#2105)

* Prevent user warning configuration from being overwritten.

* Update changelog.
---
 CHANGELOG.md                         |  2 ++
 envision/server.py                   |  3 ---
 examples/e2_single_agent.py          |  6 ++++++
 examples/replay/replay_klws_agent.py |  3 +--
 smarts/__init__.py                   | 11 ++++++++---
 smarts/core/agent.py                 |  2 --
 smarts/zoo/agent_spec.py             |  2 --
 7 files changed, 17 insertions(+), 12 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8720e3399f..d8586468fa 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,8 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - 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
 
diff --git a/envision/server.py b/envision/server.py
index 8069a6177f..065b898940 100644
--- a/envision/server.py
+++ b/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 = {}
 
diff --git a/examples/e2_single_agent.py b/examples/e2_single_agent.py
index 07d34570c1..da3d223761 100644
--- a/examples/e2_single_agent.py
+++ b/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()
diff --git a/examples/replay/replay_klws_agent.py b/examples/replay/replay_klws_agent.py
index b94c92c459..ae2abfeb34 100644
--- a/examples/replay/replay_klws_agent.py
+++ b/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",
diff --git a/smarts/__init__.py b/smarts/__init__.py
index 607d6c6631..23907bd163 100644
--- a/smarts/__init__.py
+++ b/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
diff --git a/smarts/core/agent.py b/smarts/core/agent.py
index 0116125067..9b0b3bee37 100644
--- a/smarts/core/agent.py
+++ b/smarts/core/agent.py
@@ -21,8 +21,6 @@
 import warnings
 from typing import Any, Callable
 
-warnings.simplefilter("once")
-
 logger = logging.getLogger(__name__)
 
 
diff --git a/smarts/zoo/agent_spec.py b/smarts/zoo/agent_spec.py
index b44f23e4f6..70a0505fe5 100644
--- a/smarts/zoo/agent_spec.py
+++ b/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):

From d629e0aa40149f8f4c26065996d5936f0532ce57 Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Tue, 7 Nov 2023 13:15:39 +0000
Subject: [PATCH 13/16] GitHub Actions: Update requirements.txt

---
 requirements.txt | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/requirements.txt b/requirements.txt
index 185d7301f1..cc95d1b7d4 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -29,9 +29,9 @@ gymnasium-notices==0.0.1
 h5py==3.10.0
 hyperlink==21.0.0
 idna==3.4
-imageio==2.31.6
+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
@@ -73,7 +73,7 @@ pandas==2.0.3
 Pillow==10.0.1
 pkgutil_resolve_name==1.3.10
 pluggy==1.3.0
-protobuf==4.24.4
+protobuf==4.25.0
 psutil==5.9.6
 py==1.11.0
 py-cpuinfo==9.0.0
@@ -96,7 +96,7 @@ referencing==0.30.2
 requests==2.31.0
 requests-oauthlib==1.3.1
 rich==13.6.0
-rpds-py==0.10.6
+rpds-py==0.12.0
 rsa==4.9
 scikit-image==0.21.0
 scipy==1.10.1

From 7cd8c4c4bd902527710e783febcebf562a2341c3 Mon Sep 17 00:00:00 2001
From: Tucker Alban <montgomery.alban@huawei.com>
Date: Thu, 9 Nov 2023 16:27:14 -0500
Subject: [PATCH 14/16] Fix likely cause of `smarts.__del__` call in
 `ros_driver`. (#2106)

* Fix likely cause of smarts.__del__ call.

* Update with fix.
---
 CHANGELOG.md                                    |  1 +
 smarts/ros/src/smarts_ros/scripts/ros_driver.py | 14 +++++++-------
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d8586468fa..a499bdfb5d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,7 @@ 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.
diff --git a/smarts/ros/src/smarts_ros/scripts/ros_driver.py b/smarts/ros/src/smarts_ros/scripts/ros_driver.py
index 1a06e461e4..5ab09ef319 100755
--- a/smarts/ros/src/smarts_ros/scripts/ros_driver.py
+++ b/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__":

From bc4129f5e609af81f1b8df6c8daa6875c1277452 Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Thu, 9 Nov 2023 21:33:03 +0000
Subject: [PATCH 15/16] GitHub Actions: Update requirements.txt

---
 requirements.txt | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/requirements.txt b/requirements.txt
index cc95d1b7d4..94e85ed919 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -77,7 +77,7 @@ protobuf==4.25.0
 psutil==5.9.6
 py==1.11.0
 py-cpuinfo==9.0.0
-pyarrow==14.0.0
+pyarrow==14.0.1
 pyasn1==0.5.0
 pyasn1-modules==0.3.0
 pybullet==3.2.5
@@ -116,7 +116,7 @@ tifffile==2023.7.10
 tomli==2.0.1
 torch==2.1.0
 torchvision==0.16.0
-trimesh==4.0.2
+trimesh==4.0.3
 triton==2.1.0
 Twisted==23.10.0
 typer==0.9.0
@@ -125,7 +125,7 @@ tzdata==2023.3
 urllib3==2.0.7
 wcwidth==0.2.9
 Werkzeug==3.0.1
-wrapt==1.15.0
+wrapt==1.16.0
 yattag==1.15.2
 zipp==3.17.0
 zope.interface==6.1

From c164c5cf04f4d361d149788ac57bace0e4720b13 Mon Sep 17 00:00:00 2001
From: Tucker Alban <mtuck2005@yahoo.ca>
Date: Mon, 13 Nov 2023 23:09:39 +0000
Subject: [PATCH 16/16] GitHub Actions: Update mac_requirements.txt

---
 utils/setup/mac_requirements.txt | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/utils/setup/mac_requirements.txt b/utils/setup/mac_requirements.txt
index 6d1aec02ac..b301bfa7d0 100644
--- a/utils/setup/mac_requirements.txt
+++ b/utils/setup/mac_requirements.txt
@@ -31,7 +31,7 @@ hyperlink==21.0.0
 idna==3.4
 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
@@ -65,7 +65,7 @@ protobuf==4.25.0
 psutil==5.9.6
 py==1.11.0
 py-cpuinfo==9.0.0
-pyarrow==14.0.0
+pyarrow==14.0.1
 pyasn1==0.5.0
 pyasn1-modules==0.3.0
 pybullet==3.2.5
@@ -74,7 +74,7 @@ pytest==7.4.3
 pytest-benchmark==4.0.0
 pytest-cov==4.1.0
 pytest-forked==1.6.0
-pytest-xdist==3.3.1
+pytest-xdist==3.4.0
 python-dateutil==2.8.2
 pytz==2023.3.post1
 PyWavelets==1.4.1
@@ -104,15 +104,15 @@ tifffile==2023.7.10
 tomli==2.0.1
 torch==2.1.0
 torchvision==0.16.0
-trimesh==4.0.2
+trimesh==4.0.4
 Twisted==23.10.0
 typer==0.9.0
 typing_extensions==4.5.0
 tzdata==2023.3
-urllib3==2.0.7
-wcwidth==0.2.9
+urllib3==2.1.0
+wcwidth==0.2.10
 Werkzeug==3.0.1
-wrapt==1.15.0
+wrapt==1.16.0
 yattag==1.15.2
 zipp==3.17.0
 zope.interface==6.1