Smarts

Added
- Added a zoo agent, named Control-and-Supervised-Learning, from NeurIPS 2022 submission. This zoo agent runs in benchmark `driving_smarts==0.0`.
- Added a zoo agent, named Discrete Soft Actor Critic, from NeurIPS 2022 submission. This zoo agent runs in benchmark `driving_smarts==0.0`.
- Added basic tests for `hiway-v1` resetting and unformatted observations and actions.
- Added `actor_ids` as a provider interface to check the actors that the provider is currently in charge of.
Changed
- `HiWayEnvV1` derived environments now allow an explicit scenario through `reset(options["scenario"])`.
- `HiWayEnvV1` derived environments now allow an explicit simulation start time through `reset(options["start_time"])`.
- Exposed `smarts` as a property on `HiWayEnvV1`.
- Made the heading input relative to the current heading in `RelativeTargetPose` action space.
Deprecated
Fixed
- Issue where a 0 length lane caused `envision` to crash.
- Fixed an issue where `Feature.type_specific_info` was calling a non-existant method.
Removed
Security

Added
- Engine configuration utility that uses the following locations to allow configuration of the SMARTS engine. The engine consumes the configuration files from the following locations in the following priority: `./engine.ini`, `~/.smarts/engine.ini`, `$GLOBAL_USER/smarts/engine.ini`, and `${PYTHON_ENV}/lib/${PYTHON_VERSION}/site-packages/smarts/engine.ini`.
- Added map source uri as `map_source` inside of `hiway-v1` reset info to indicate what the current map is on reset.
- Added NGSIM documentation.
- Added a zoo agent, named Interaction-Aware Motion Prediction, from NeurIPS2022 submission. This zoo agent runs in benchmark `driving_smarts==0.0`.
- Added Agent Zoo documentation in ReadTheDocs.
Changed
- Made changes in the docs to reflect `master` branch as the main development branch.
- Enabled supplying agent locator directly to benchmark runner and removed the need for an intermediary config file. Updated benchmark docs to reflect this.
- Individualised the agent instances in the `benchmark_runner_v0.py`.
- Made driving_smarts_competition_v0 env configurable through supply of `AgentInterface`.
- Observation of driving_smarts_competition_v0 env was fixed to be of type `ObservationOptions.unformatted`.
Deprecated
Fixed
- Fixed an exit error that occurs when envision attempts to close down.
- Clarified the actions for `ActionSpaceType.Continuous` and `ActionSpaceType.ActuatorDynamic` in their respective docstrings.
- Excluded from wheel any scenario build files in pattern `smarts/**/build/**/*.xml`.
- Fixed an unintended regression in the metrics.
Removed
- Removed duplicated `smarts.env.gymnasium.action_conversion` module.
Security

Added
- Added action formatting option to `hiway-v0`.
- Introduced `debug: serial: bool` option to driving smarts benchmark config.
Changed
- Moved action and observation conversions from `smarts.env.gymnasium.utils` to `smarts.env.utils`.
Fixed
- Fixed an issue where termination while envision is enabled but not connected would cause a flurry of broken pipe errors.
- Fixed an issue where activating visdom would cause errors.
- Fixed an issue where metrics break down with unformatted observations.
- Fixed an issue where `hiway-v1` would cause an exception when using "unformatted" observations.
- Unformatted actions and observations in `hiway-v0` provide `None` rather than an incorrect space.

Added
- The `hiway-v1` environment can now be configured to provide an "unformatted" observation.
Changed
- Scenario paths is no longer manually supplied to Envision server while setup. Scenario paths are automatically sent to Envision server from SMARTS during simulation startup phase.
- Updated "hiway-v1" with `gymnasium` action spaces using new `ActionsSpaceFormatter` utility.
Fixed
- Fixed an issue where a sensor detach call when a bubble vehicle exits a bubble could cause a program crash.
- Fixed issue with "hiway-v0" where "agent_interfaces" was not populated.
- Add missing `distance_travelled` to the `hiway-v1` observations.

Fixed
- Fixed issue where Driving SMARTS benchmark only did 2 evaluations per scenario instead of 50.
- Removed unclosed file warnings from benchmark output.

Added
- Exposed `.glb` file metadata through the scenario `Scenario.map_glb_metadata` attribute.
- Added single vehicle `Trip` into type.
- Added new video record ultility using moviepy.
- Added distance check between bubble and vehicle to avoid generating unnecessary cursors.
- Added `ConfigurableZone` for `Zone` object to types which enable users to build bubble by providing coordinates of the polygon.
- Added "SMARTS Performance Diagnostic" development tool for evaluating the simulation performance.
- Added a "All Simulation" button on the header of Envision and made small-windowed simulation(s) in the "All Simulations" page clickable to maximize.
- An env wrapper `Metrics` is introduced to compute agents' performance metrics.
- Extracted `TraciConn` to the SMARTS utilities as a simplified utility to help with connecting to `TraCI`.
- Added `HiWayV1` `gymansium` environment to smarts. This can be referenced through gymnasium as `smarts.env:hiway-v1`.
- Added `scl benchmark run` and `scl benchmark list` for running and listing benchmarks.
- Added the "driving_smarts" benchmark as a feature of the new `scl benchmark` suite.
- Added `smarts.benchmark` module which deals with running benchmarks.
- Added `smarts.core.entrypoints.benchmark_runner_v0` which is the initial benchmark fully integrated into `smarts`.
- Added documentation with benchmark information.
Deprecated
Changed
- Minimum `SUMO` version allowed by `SumoTrafficSimulation` is now `1.10.0`.
- The `ProviderManager` interface now uses a string id for removal of an actor instead of an actor state.
- Renamed many fields of the `smarts.core.agent_interface.AgentInterface` dataclass: `lidar` -> `lidar_point_cloud`, `waypoints` -> `waypoint_paths`, `rgb` -> `top_down_rgb`, `neighborhood_vehicles` -> `neighborhood_vehicle_states`, and `ogm` -> `occupancy_grid_map`.
- Renamed `smarts.core.provider.Provider`'s `action_spaces` to `actions`.
- Moved `VehicleObservation`, `EgoVehicleObservation`, `Observation`, `RoadWaypoints`, `GridMapMetadata`, `TopDownRGB`, `OccupancyGridMap`, `DrivableAreaGridMap`, `ViaPoint`, `Vias`, `SignalObservation`, and `Collision` from `smarts.core.sensors` to `smarts.core.observations`. They are now all typed `NamedTuples`.
- Renamed `GridMapMetadata` field `camera_pos` to `camera_position`.
Removed
- Removed all of PyMarl contents, including related interface adapter, environments, and tests.
- Removed ray usage example.
- Moved ULTRA from `huawei-noah/SMARTS` to `smarts-project/smarts-project.rl` repository.
- Removed observation_adapter, reward_adapter, and info_adapter, from `hiway_env`.
- Removed `action_space` field from the `smarts.core.agent_interface.AgentInterface` dataclass.
Fixed
- Updated the RL example `racing` to use `smarts[camera_obs]==0.7.0rc0` and continuous flowing traffic scenario. Simplified the `racing` RL example folder structure.
- Envision "near realtime" mode bugfix
- Corrected an issue where traffic lights in SUMO traffic simulation could be empty and cause a termination of the simulation.
- Fixed an issue where vehicles could cause SMARTS to terminate from being in multiple providers.
- Fixed an issue where `sumo_traffic_simulation` would disconnect on a non-terminal exception.
- SMARTS now aggressively attempts to connect to a SUMO process as long as the SUMO process remains alive.
- SUMO traffic simulation `route_for_vehicle` had semantic errors and now works again.
- SUMO is now supported up to version `1.15.0`. Versions of SUMO `1.13.0` and onward are forced to reset rather than reload because of errors with hot resetting versions starting with `1.13.0`.
Security