Fix pytype types test.

examples/tools/pybullet_trajectory_example.py

@@ -81,12 +81,6 @@ def run(client, vehicle, plane_body_id, sliders, n_steps=1e6):
             vehicle,
             controller_state,
             dt_sec=TIMESTEP_SEC,
-            heading_gain=0.05,
-            lateral_gain=0.65,
-            velocity_gain=1.8,
-            traction_gain=2,
-            derivative_activation=False,
-            speed_reduction_activation=False,
         )
 
         client.stepSimulation()

smarts/core/smarts.py

@@ -17,6 +17,8 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
+from __future__ import annotations
+
 import importlib.resources as pkg_resources
 import logging
 import os

smarts/core/utils/resources.py

@@ -101,9 +101,13 @@ class VehicleDefinitions:
 
     data: Dict[str, Any]
     """The data associated with the vehicle definitions. This is generally vehicle type keys."""
-    filepath: str
+    filepath: Union[str, Path]
     """The path to the vehicle definitions file."""
 
+    def __post_init__(self):
+        if isinstance(self.filepath, Path):
+            object.__setattr__(self, "filepath", self.filepath.__str__())
+
     @lru_cache(maxsize=20)
     def load_vehicle_definition(self, vehicle_class: str):
         """Loads in a particular vehicle definition."""

smarts/core/utils/type_operations.py

@@ -190,13 +190,13 @@ def __init__(self, base_type: Type[T]) -> None:
         self._associated_groups: Dict[T, List[Type[T]]] = defaultdict(list)
         self._base_type = base_type
 
-    def clear_type(self, type_to_clear: Type[T]):
+    def clear_type(self, type_to_clear: Type[S]):
         """Clear all instances of the given type from this suite. This includes
         all sub-classes. This should be an sub-class of the type that this suite
         manages.
 
         Args:
-            type_to_clear (Type[T]): The type to clear.
+            type_to_clear (Type[S]): The type to clear.
         """
         self._assert_is_managed(type_to_clear)
         t = self._associated_groups.get(type_to_clear)

smarts/core/vehicle.py

@@ -53,7 +53,7 @@
 from .vehicle_state import VEHICLE_CONFIGS, VehicleState
 
 if TYPE_CHECKING:
-    from smarts.core.plan import Mission
+    from smarts.core import plan
     from smarts.core.renderer_base import RendererBase
     from smarts.core.sensor_manager import SensorManager
     from smarts.core.smarts import SMARTS
@@ -273,7 +273,7 @@ def valid(self) -> bool:
 
     @staticmethod
     def agent_vehicle_dims(
-        mission: "Mission", default: Optional[str] = None
+        mission: "plan.Mission", default: Optional[str] = None
     ) -> Dimensions:
         """Get the vehicle dimensions from the mission requirements.
         Args:

smarts/core/vehicle_index.py

@@ -63,9 +63,9 @@
 from .vehicle import Vehicle
 
 if TYPE_CHECKING:
+    from smarts.core import plan
     from smarts.core.agent_interface import AgentInterface
     from smarts.core.controllers.action_space_type import ActionSpaceType
-    from smarts.core.plan import Plan
     from smarts.core.renderer_base import RendererBase
     from smarts.core.smarts import SMARTS
 
@@ -118,7 +118,9 @@ def __init__(self):
         self._controller_states = {}
 
         # Loaded from yaml file on scenario reset
-        self._vehicle_definitions: resources.VehicleDefinitions = {}
+        self._vehicle_definitions: resources.VehicleDefinitions = (
+            resources.VehicleDefinitions({}, "")
+        )
 
     @classmethod
     def identity(cls):
@@ -395,7 +397,7 @@ def start_agent_observation(
         vehicle_id,
         agent_id,
         agent_interface: AgentInterface,
-        plan: Plan,
+        plan: "plan.Plan",
         boid=False,
         initialize_sensors=True,
     ):
@@ -556,14 +558,14 @@ def stop_agent_observation(self, vehicle_id) -> Vehicle:
     @clear_cache
     def relinquish_agent_control(
         self, sim: SMARTS, vehicle_id: str, road_map: RoadMap
-    ) -> Tuple[VehicleState, List[str]]:
+    ) -> Tuple[VehicleState, Optional[RoadMap.Route]]:
         """Give control of the vehicle back to its original controller."""
         self._log.debug(f"Relinquishing agent control v_id={vehicle_id}")
 
         v_id = _2id(vehicle_id)
 
         ss = sim.sensor_manager.sensor_state_for_actor_id(vehicle_id)
-        route = ss.get_plan(road_map).route
+        route = ss.get_plan(road_map).route if ss else None
         vehicle = self.stop_agent_observation(vehicle_id)
 
         # pytype: disable=attribute-error
@@ -596,7 +598,11 @@ def relinquish_agent_control(
 
     @clear_cache
     def attach_sensors_to_vehicle(
-        self, sim: SMARTS, vehicle_id, agent_interface: AgentInterface, plan: Plan
+        self,
+        sim: SMARTS,
+        vehicle_id,
+        agent_interface: AgentInterface,
+        plan: "plan.Plan",
     ):
         """Attach sensors as per the agent interface requirements to the specified vehicle."""
         vehicle_id = _2id(vehicle_id)
@@ -639,6 +645,7 @@ def _switch_control_to_agent_recreate(
         ), f"Missing agent_interface for agent_id={agent_id}"
         vehicle = self._vehicles[vehicle_id]
         sensor_state = sim.sensor_manager.sensor_state_for_actor_id(vehicle.id)
+        assert sensor_state is not None
         controller_state = self._controller_states[vehicle_id]
         plan = sensor_state.get_plan(sim.road_map)
 
@@ -652,7 +659,7 @@ def _switch_control_to_agent_recreate(
             agent_interface.action,
             vehicle_definition.get("type"),
             agent_interface.vehicle_class,
-            plan,
+            plan.mission,
             vehicle_definition.get("dynamics_model"),
             vehicle_definition.get("tire_params"),
             vehicle_definition.get("visual_model"),
@@ -704,7 +711,7 @@ def _build_agent_vehicle(
         action: Optional[ActionSpaceType],
         vehicle_type: str,
         vehicle_class: str,
-        plan: Plan,
+        mission: plan.Mission,
         vehicle_dynamics_filepath: Optional[str],
         tire_filepath: str,
         visual_model_filepath: str,
@@ -715,7 +722,6 @@ def _build_agent_vehicle(
         """Create a new vehicle and set up sensors and planning information as required by the
         ego agent.
         """
-        mission = plan.mission
         chassis_dims = Vehicle.agent_vehicle_dims(mission, default=vehicle_type)
 
         start = mission.start
@@ -781,7 +787,7 @@ def build_agent_vehicle(
         sim: SMARTS,
         agent_id,
         agent_interface: AgentInterface,
-        plan: Plan,
+        plan: "plan.Plan",
         trainable: bool,
         initial_speed: Optional[float] = None,
         boid: bool = False,
@@ -798,7 +804,7 @@ def build_agent_vehicle(
             action=agent_interface.action,
             vehicle_type=vehicle_definition.get("type"),
             vehicle_class=agent_interface.vehicle_class,
-            plan=plan,
+            mission=plan.mission,
             vehicle_dynamics_filepath=vehicle_definition.get("dynamics_model"),
             tire_filepath=vehicle_definition.get("tire_params"),
             visual_model_filepath=vehicle_definition.get("visual_model"),

smarts/p3d/renderer.py

@@ -491,7 +491,11 @@ def set_interest(self, interest_filter: re.Pattern, interest_color: Colors):
         self._interest_color = interest_color
 
     def create_vehicle_node(
-        self, glb_model: str, vid: str, color: Union[Colors, SceneColors], pose: Pose
+        self,
+        glb_model: Union[str, Path],
+        vid: str,
+        color: Union[Colors, SceneColors],
+        pose: Pose,
     ):
         """Create a vehicle node."""
         if vid in self._vehicle_nodes: