Merge branch 'master' into zoo-8

.dockerignore

@@ -34,12 +34,14 @@
 **/.mypy_cache/
 **/nosetests.xml
 **/OpEn_build/
+**/.panda3d_cache
 **/pip-delete-this-directory.txt
 **/pip-log.txt
 **/pip-wheel-metadata/
 **/__pycache__
 **/.pytest_cache
 **/.python-version
+**/.pytype
 **/*.rou.alt.xml
 **/*.rou.xml
 **/*.sif
@@ -54,7 +56,7 @@
 **/.tox/
 **/traffic_histories.pkl
 **/*.trips.xml
-**/.venv
+**/.venv*
 **/.vscode
 **/wheels/
 **/xdummy.log

.github/workflows/ci-auto-commit-linux.yml

@@ -24,7 +24,7 @@ jobs:
       - name: Add safe directory
         run: git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
       - name: Install SMARTS
@@ -33,7 +33,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install .[camera_obs,rllib,test,torch,train]
+          pip install .[camera-obs,rllib,test,torch,train]
       - name: Update requirements
         run: |
           . ${{env.venv_dir}}/bin/activate

.github/workflows/ci-auto-commit-mac.yml

@@ -11,24 +11,24 @@ env:
 
 jobs:
   auto-commit-mac:
-    runs-on: macos-11
+    runs-on: macos-12
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
-          python-version: "3.8"
+          python-version: "3.9"
       - name: Update requirements
         run: |
           cd $GITHUB_WORKSPACE
-          python3.8 -m venv ${{env.venv_dir}}
+          python3.9 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install .[camera_obs,rllib,test,torch,train]
+          pip install .[camera-obs,rllib,test,torch,train]
           pip freeze | grep -v 'smarts' | grep -v 'pkg-resources==0.0.0' > utils/setup/mac_requirements.txt
       - name: Commit changes
         uses: EndBug/add-and-commit@v7

.github/workflows/ci-base-tests-linux.yml

@@ -9,7 +9,7 @@ jobs:
   base-tests:
     runs-on: ubuntu-20.04
     if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
-    container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
+    container: ghcr.io/smarts-project/smarts:v2.0.0-software_render
     strategy:
       matrix:
         tests:
@@ -23,17 +23,18 @@ jobs:
           - ./examples/tests/test_examples.py
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Install dependencies
         run: |
           python3.8 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install -e .[camera_obs,opendrive,test,test_notebook,torch,train,gif_recorder,gymnasium,argoverse,envision,sumo]
+          pip install -e .[camera-obs,opendrive,test,test-notebook,torch,train,gif-recorder,gymnasium,argoverse,envision,sumo]
           if echo ${{matrix.tests}} | grep -q -e "test_rllib_hiway_env.py"; then pip install -e .[rllib]; fi
           if echo ${{matrix.tests}} | grep -q -e "test_examples.py"; then pip install -e .[examples,rllib]; fi
           if echo ${{matrix.tests}} | grep -q -e "/smarts/ray"; then pip install -e .[ray]; fi
+          if echo ${{matrix.tests}} | grep -q -e "/smarts/core"; then (/usr/bin/Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile ./xdummy.log -config /etc/X11/xorg.conf -novtswitch :1 &); fi
       - name: Build scenarios
         run: |
           . ${{env.venv_dir}}/bin/activate
@@ -55,6 +56,7 @@ jobs:
             --doctest-modules \
             --forked \
             --dist=no \
+            --durations=10 \
             -n auto \
             --ignore-glob="**/ros.py" \
             --ignore-glob="**/waymo_map.py" \
@@ -63,6 +65,7 @@ jobs:
             --ignore=./smarts/core/tests/test_smarts_memory_growth.py \
             --ignore=./smarts/core/tests/test_env_frame_rate.py \
             --ignore=./smarts/env/tests/test_benchmark.py \
+            --ignore=./smarts/core/utils/tests/test_traci_port_acquisition.py \
             -k 'not test_long_determinism'
 
   examples-rl:
@@ -76,15 +79,15 @@ jobs:
           - e11_platoon
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Install dependencies
         run: |
           cd ${GITHUB_WORKSPACE}/examples/${{matrix.tests}}
           python3.8 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install -e ./../../.[camera_obs,argoverse,sumo,test]
+          pip install -e ./../../.[camera-obs,argoverse,sumo,test]
           pip install -e ./inference/
       - name: Run smoke tests
         run: |
@@ -108,15 +111,15 @@ jobs:
           - e11_platoon
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Install dependencies
         run: |
           cd ${GITHUB_WORKSPACE}
           python3.8 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install -e .[camera_obs,argoverse,test,ray,sumo]
+          pip install -e .[camera-obs,argoverse,test,ray,sumo]
           scl zoo install examples/${{matrix.tests}}/inference
       - name: Run smoke tests
         run: |

.github/workflows/ci-base-tests-mac.yml

@@ -12,7 +12,7 @@ env:
 
 jobs:
   base-tests-mac:
-    runs-on: macos-11
+    runs-on: macos-12
     strategy:
       matrix:
         tests:
@@ -21,20 +21,18 @@ jobs:
           - ./examples/tests --ignore=./examples/tests/test_learning.py
           - ./smarts/sstudio
           - ./smarts/env/tests/test_rllib_hiway_env.py
-          - ./smarts/core --nb-exec-timeout 65536 --ignore=./smarts/core/tests/test_notebook.py
+          - ./smarts/core --nb-exec-timeout 65536 --ignore=./smarts/core/tests/test_notebook.py --ignore=./smarts/core/tests/test_renderers.py::test_custom_shader_pass_buffers
           - ./smarts/env --ignore=./smarts/env/tests/test_rllib_hiway_env.py
           - ./smarts/ray
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
-      - name: Setup Python
-        run: |
-          brew update
-          brew install python@3.8
-          brew unlink python@3.9
-          brew link --force --overwrite python@3.8
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.9"
       - name: Setup SUMO
         run: |
           brew install xquartz
@@ -43,12 +41,12 @@ jobs:
           brew install geos
       - name: Install dependencies
         run: |
-          python3.8 -m venv ${{env.venv_dir}}
+          python3.9 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
           pip install -r utils/setup/mac_requirements.txt
-          pip install -e .[camera_obs,opendrive,rllib,test,test_notebook,torch,train,argoverse,envision,sumo]
+          pip install -e .[camera-obs,opendrive,rllib,test,test-notebook,torch,train,argoverse,envision,sumo]
           if echo ${{matrix.tests}} | grep -q -e "/env"; then pip install -e .[rllib]; fi
           if echo ${{matrix.tests}} | grep -q -e "/examples"; then pip install -e .[examples,rllib]; fi
           if echo ${{matrix.tests}} | grep -q "/ray"; then pip install -e .[ray]; fi
@@ -71,4 +69,5 @@ jobs:
             --ignore=./smarts/core/tests/test_renderers.py \
             --ignore=./smarts/core/tests/test_smarts.py \
             --ignore=./smarts/core/tests/test_env_frame_rate.py \
-            --ignore=./smarts/core/tests/test_observations.py
+            --ignore=./smarts/core/tests/test_observations.py \
+            --ignore=./smarts/core/utils/tests/test_traci_port_acquisition.py

.github/workflows/ci-format.yml

@@ -12,7 +12,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Check header
         run: |
           cd $GITHUB_WORKSPACE
@@ -24,7 +24,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Check docstring
         run: |
           cd $GITHUB_WORKSPACE
@@ -51,15 +51,15 @@ jobs:
       - name: Add safe directory
         run: git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Install SMARTS
         run: |
           python3.8 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install wheel==0.38.4
-          pip install -e .[dev,camera_obs,train,test]
+          pip install -e .[dev,camera-obs,train,test]
       - name: Get changed files on branch since branching
         id: changed-files
         shell: bash
@@ -85,7 +85,7 @@ jobs:
       - name: Add safe directory
         run: git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Install Enchant
@@ -98,7 +98,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip "setuptools<58.3.0"
           pip install wheel==0.38.4
-          pip install .[camera_obs,doc,train,ray,envision,argoverse,opendrive,waymo,sumo]
+          pip install .[camera-obs,doc,train,ray,envision,argoverse,opendrive,waymo,sumo]
           cd ${GITHUB_WORKSPACE}/docs
           make html SPHINXOPTS="-W -T -E -n --keep-going -b spelling -b linkcheck"
       - name: Check build output
@@ -123,7 +123,7 @@ jobs:
       - name: Add safe directory
         run: git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Install SMARTS with all extras and check for conflicts

.github/workflows/ci-pull-request.yml

@@ -14,15 +14,15 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Setup package
         run: |
           cd $GITHUB_WORKSPACE
           python3.8 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install .[camera_obs,rllib,test,torch,train]
+          pip install .[camera-obs,rllib,test,torch,train]
       - name: SMARTS benchmark
         run: |
           cd $GITHUB_WORKSPACE
@@ -32,6 +32,6 @@ jobs:
           scl scenario build-all --clean ./scenarios
           pytest --benchmark-save=previous --benchmark-min-rounds=10 --benchmark-timer=time.process_time ./smarts/env/tests/test_benchmark.py
           git checkout -
-          pip install .[camera_obs,rllib,test,torch,train]
+          pip install .[camera-obs,rllib,test,torch,train]
           scl scenario build-all --clean ./scenarios
           pytest --benchmark-compare=0001_previous --benchmark-compare-fail=mean:10% --benchmark-min-rounds=10 --benchmark-timer=time.process_time ./smarts/env/tests/test_benchmark.py

.github/workflows/ci-python-version-test.yml

@@ -15,7 +15,7 @@ jobs:
       matrix:
         python-version: ['3.8', '3.9', '3.10', '3.11']
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v4
         with:
@@ -27,4 +27,4 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install .[camera_obs,rllib,sumo,test,torch,train]
+          pip install .[camera-obs,rllib,sumo,test,torch,train]

.github/workflows/ci-test-learning.yml

@@ -17,7 +17,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
       - name: Setup package
@@ -27,7 +27,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install .[camera_obs,rllib,test,torch,train]
+          pip install .[camera-obs,rllib,test,torch,train]
       - name: Verify learning
         run: |
           cd $GITHUB_WORKSPACE

.github/workflows/ci-test-long-determinism.yml

@@ -17,7 +17,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
       - name: Setup package
@@ -26,7 +26,7 @@ jobs:
           python3.8 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
-          pip install .[camera_obs,rllib,test,torch,train]
+          pip install .[camera-obs,rllib,test,torch,train]
       - name: Verify long determinism
         run: |
           cd $GITHUB_WORKSPACE

.github/workflows/ci-test-memory-growth.yml

@@ -17,7 +17,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
       - name: Setup package
@@ -28,7 +28,7 @@ jobs:
           pip install --upgrade pip
           pip install wheel==0.38.4
           pip install pympler
-          pip install .[camera_obs,rllib,test,torch,train]
+          pip install .[camera-obs,rllib,test,torch,train]
       - name: Test memory growth
         run: |
           cd $GITHUB_WORKSPACE

.gitignore

@@ -66,6 +66,9 @@ target/
 # VSCode
 .vscode
 
+# panda3d
+.panda3d_cache
+
 # pyenv
 .python-version
 
@@ -154,6 +157,7 @@ collected_observations/
 
 # Experiments
 outputs/
+vaw/
 
 # Temp
-driving-smarts-2.competition-scenarios
+driving-smarts-2.competition-scenarios