Smarts

Added
Changed
- Moved benchmark scenarios into SMARTS/scenarios folder.
- Simplified the scenario loading code in driving_smarts benchmark.
- The `"hiway-v1"` environment now uses `ScenarioOrder` configuration rather than a boolean.
Deprecated
Fixed
- Fix case where heading source attribute could be undefined.
- Updated interaction aware motion prediciton zoo agent to work with smarts.
- Edge dividers no longer flow through intersections in Argoverse 2 maps.
Removed
Security

Added
- Added vehicle of interest coloring through scenario studio. This lets the scenario color vehicles that match a certain pattern of vehicle id.
- SMARTS now provides `remove_provider` to remove a provider from the simulation. Use carefully.
Changed
Deprecated
Fixed
- Fixed "rl/racing" `numpy` incompatibility.
- Fixed an issue with SUMO maps where waypoints in junctions would not return all possible paths.
- Fixed an issue in Argoverse maps where adjacent lanes would sometimes not be grouped in the same road.
Removed
Security

Added
- Added support for the [Argoverse 2 Motion Forecasting Dataset](https://www.argoverse.org/av2.html#forecasting-link) (see `scenarios/argoverse`)
- Added `waymo_open_dataset` as a module at the SMARTS repo level, to be able to load waymo scenarios without any external packages
Changed
- Changed the `lanepoint_spacing` setting in `MapSpec` to be non-optional. Lanepoints are now generated lazily when waypoints are used.
Deprecated
Fixed
Removed
- Removed `waymo-open-dataset-tf-2-4-0` package as a dependency
Security

Added
- Agent manager now has `add_and_emit_social_agent` to generate a new social agent that is immediately in control of a vehicle.
Changed
- Changed the minimum supported Python version from 3.7 to 3.8
Deprecated
Fixed
- Fixed `hiway-v1` environment to use `"render_modes"` instead of `"render.modes"`.
- Fixed an issue with SMARTS where the social vehicles started instantly regardless of what mission start time they were given.
- Missing waypoint paths `'lane_id'` is now added to the `hiway-v1` formatted observations.
- Engine config utility now properly evaluates `[Ff]alse` as `False` when using a `bool` cast.
Removed
Security

Added
- Added objective, scenario description, and trained agent performance, to the Driving Smarts 2022 benchmark documentation.
Changed
- Unique id suffix is removed from vehicle name while building agent vehicle in `VehicleIndex.build_agent_vehicle()` function.
Deprecated
Fixed
- Missing neighborhood vehicle ids are now added to the `highway-v1` formatted observations.
- Stopped agent providers from removing social agents when they have no actor.
- Using `trip` in sstudio traffic generation no longer causes a durouter error.
- Chassis collision AABB first pass now has an additional `0.05m` tolerance to identify axis aligned collisions that would previously be missed.
- Agent to mission padding warning now occurs when there are less missions than agents rather than when there are the same number of agents as missions.
- Agent manager should no longer de-synchronize vehicle ids with the vehicle index.
Removed
Security

Added
- Added a math utility for generating combination groups out of two sequences with unique index use per group. This is intended for use to generate the combinations needed to give a unique agent-mission set per reset.
- Added basic tests for `hiway-v1` resetting and unformatted observations and actions.
- Added `"steps_completed"` to observation formatter.
Fixed
- Ensured that `hiwayenv.reset` provides unique agent-mission sets per reset.
- Fixed an issue where `sstudio.types.Via` was not hashable.