Release 0 6 0 (huawei-noah#1357)

* Update SMARTS 0.5.1.post1 -> 0.6.0 See CHANGELOG.md

Co-authored-by: adai <[email protected]>
Co-authored-by: Rutvik Gupta <[email protected]>
Co-authored-by: Stephen Hockema <[email protected]>
Co-authored-by: qianyi-sun <[email protected]>
Co-authored-by: Allan Liu <[email protected]>
Co-authored-by: Saul Field <[email protected]>
Co-authored-by: Zhengbang Zhu <[email protected]>

.gitattributes

@@ -0,0 +1,58 @@
+# Set the default behavior, in case people don't have core.autocrlf set.
+# This should catch all files with no extension or not listed below.
+* text=auto
+
+# Explicitly declare text files you want to always be normalized and converted
+# to native line endings on checkout.
+*.txt text
+*.py text
+*.md text
+*.rst text
+*.sh text
+*.bash text
+*.js text
+*.json text
+*.css text
+*.ipynb text
+*.xml text
+*.urdf text
+*.yml text
+*.yaml text
+*.proto text
+*.msg text
+*.srv text
+*.launch text
+*.c text
+*.cpp text
+*.h text
+*.hpp text
+*.pl text
+*.vert text
+*.frag text
+*.log text
+*.cfg text
+*.docker text
+Dockerfile* text
+Makefile* text
+MANIFEST.in
+*NOTICE text
+
+# Denote all files that are truly binary and should not be modified.
+*.png binary
+*.jpg binary
+*.jpeg binary
+*.gif binary
+*.svg binary
+*.glb binary
+*.blend binary
+*.pkl binary
+*.pdf binary
+*.gz binary
+*.zip binary
+*.tar binary
+*.tgz binary
+
+# Declare files that will always have CRLF line endings on checkout.
+#map.net.xml text eol=crlf
+#*.sln text eol=crlf
+

.github/workflows/cd-pypi.yml

@@ -17,7 +17,7 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
-        pip install .[train,dev]
+        pip install .[dev,rllib,torch,train]
         pip install -r requirements.txt
         pip install twine
     - name: Build SMARTS binary wheel

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

@@ -33,7 +33,7 @@ jobs:
           python3.7 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip wheel
-          pip install .[camera-obs,test,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

@@ -29,7 +29,7 @@ jobs:
           python3.7 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip wheel
-          pip install .[train,test,camera-obs]
+          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

@@ -39,7 +39,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install --upgrade wheel
-          pip install -e .[train,test,camera-obs]
+          pip install -e .[camera-obs,opendrive,rllib,test,torch,train]
       - name: Run smoke tests
         run: |
           . ${{env.venv_dir}}/bin/activate

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

@@ -47,7 +47,7 @@ jobs:
           pip install --upgrade pip
           pip install --upgrade wheel
           pip install -r utils/setup/mac_requirements.txt
-          pip install -e .[train,test,camera-obs]
+          pip install -e .[camera-obs,opendrive,rllib,test,torch,train]
       - name: Run smoke tests
         run: |
           . ${{env.venv_dir}}/bin/activate

.github/workflows/ci-format.yml

@@ -1,6 +1,12 @@
 name: SMARTS CI Format
 
-on: [push, pull_request]
+on: 
+  push:
+    branches-ignore:
+      - master
+  pull_request:
+    branches-ignore:
+      - master
 
 env:
   venv_dir: .venv
@@ -36,4 +42,42 @@ jobs:
             -s n \
             --ignore marl_benchmark,examples,scenarios,docs,manager_pb2_grpc.py,worker_pb2_grpc.py \
             --msg-template='{path}: line {line}: {msg_id}: {msg}' \
-            ./smarts ./envision
+            ./smarts ./envision
+
+  test-types:
+    runs-on: ubuntu-18.04
+    if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
+    container: huaweinoah/smarts:v0.4.18-minimal
+    steps:
+      - name: Install packages
+        run: |
+          add-apt-repository -y ppa:git-core/ppa
+          apt-get update
+          apt-get install -y git
+      - name: Checkout
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - name: Install SMARTS
+        run: |
+          python3.7 -m venv ${{env.venv_dir}}
+          . ${{env.venv_dir}}/bin/activate
+          pip install --upgrade pip wheel
+          pip install -e .[dev,camera-obs,train,test] 
+      - name: Get changed files on branch since branching
+        id: changed-files
+        shell: bash
+        run: |
+          cd $GITHUB_WORKSPACE
+          CHANGED=$(git diff --diff-filter="AM" --name-only --ignore-submodules=all origin/develop... | awk -v d=" " '{s=(NR==1?s:s d)$0}END{print s}')
+          declare -A SEEN
+          UNIQUE=()
+          for file in ${CHANGED[@]}; do filename=$(basename $file); if [ ! -v "SEEN[$filename]" ]; then SEEN[$filename]+=1; UNIQUE+=($file); fi; done 
+          OUT=$( IFS=$' '; echo "${UNIQUE[*]}")
+          echo "::set-output name=changed_files::$OUT"
+      - name: Check types
+        if: contains(steps.changed-files.outputs.changed_files, '.py')
+        run: |
+          . ${{env.venv_dir}}/bin/activate
+          pytype -d pyi-error,import-error ${{steps.changed-files.outputs.changed_files}}
+

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

@@ -22,7 +22,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install --upgrade wheel
-          pip install -e .[train,test,camera-obs]
+          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 -e .[train,test,camera-obs]
+          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-test-learning.yml

@@ -27,7 +27,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel
-          pip install -e .[train,test,camera-obs]
+          pip install .[camera-obs,rllib,test,torch,train]
       - name: Verify learning
         run: |
           cd $GITHUB_WORKSPACE

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

@@ -26,7 +26,7 @@ jobs:
           python3.7 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
-          pip install -e .[train,test,camera-obs]
+          pip install .[camera-obs,rllib,test,torch,train]
       - name: Verify long determinism
         run: |
           cd $GITHUB_WORKSPACE

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

@@ -28,7 +28,7 @@ jobs:
           pip install --upgrade pip
           pip install wheel
           pip install pympler
-          pip install -e .[train,test,camera-obs]
+          pip install .[camera-obs,rllib,test,torch,train]
       - name: Test memory growth
         run: |
           cd $GITHUB_WORKSPACE

CHANGELOG.md

@@ -16,6 +16,29 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### Removed
 ### Security
 
+## [0.6.0] 2022-03-28
+### Added
+- Added `get_vehicle_start_time()` method for scenarios with traffic history data.  See Issue #1210.
+- Added `sb3` reinforcement-learning example. An ego agent is trained using PPO algorithm from Stable Baselines3 library, to drive as far and as fast as possible in heavy traffic, without colliding or going off-road.
+- Added `FormatObs` wrapper which converts SMARTS observations to gym-compliant RL-friendly vectorized observations and returns `StdObs`.
+- Added `Pose.as_position2d()` method which converts the pose to an [x,y] position array.
+- Added `EventConfiguration` dataclass in the agent interface to allow users to configure the conditions in which events are triggered
+- Added scenarios for "importing" the i80 and us101 NGSIM trajectory history datasets
+### Changed
+- If more than one qualifying map file exists in a the `map_spec.source` folder, `get_road_map()` in `default_map_builder.py` will prefer to return the default files (`map.net.xml` or `map.xodr`) if they exist.
+- Moved the `smarts_ros` ROS node from the `examples` area into the `smarts.ros` module so that it can be distributed with SMARTS packages.
+- Use `Process` to replace `Thread` to speed up the `scl scenario build-all --clean <scenario_dir>` runtime.
+- Modified the repository's front page to be more informative and better organised.
+### Deprecated
+- Moved the `AgentSpec` class out of `smarts.core.agent` to `smarts.zoo.agent_spec`.
+### Fixed
+- Fixed a secondary exception that the `SumoTrafficSimulation` will throw when attempting to close a TraCI connection that is closed by an error.
+- Ensure that `smarts.core.coordinates.Pose` attribute `position` is an [x, y, z] numpy array, and attribute `orientation` is a quaternion length 4 numpy array. 
+- Update social vehicle pose in Bullet when no active agents are present.
+### Removed
+- Removed the unconditional import of `Renderer` from `smarts/core/vehicle.py` to make `Panda3D` optional dependency regression. See Issue #1310.
+### Security
+
 
 # [0.5.1.post1] 2022-03-11
 ### Fixed

CONTRIBUTING.md

@@ -109,6 +109,10 @@ Things inevitably become slow, when this happens, Flame Graph is a great tool to
 ```bash
 # You will need python-flamegraph to generate flamegraphs
 pip install git+https://github.com/asokoloski/python-flamegraph.git
+flamegraph_dir=./utils/third_party/tools
+mkdir -p flamegraph_dir
+curl https://raw.githubusercontent.com/brendangregg/FlameGraph/master/flamegraph.pl > ./utils/third_party/tools/flamegraph.pl
+chmod 777 {$flamegraph_dir}/flamegraph.pl
 
 make flamegraph scenario=scenarios/loop script=examples/single_agent.py
 ```

Makefile

@@ -90,7 +90,7 @@ flamegraph: $(scenario)/flamegraph.svg
 
 .PHONY: $(scenario)/flamegraph.svg
 $(scenario)/flamegraph.svg: $(scenario)/flamegraph-perf.log
-	./third_party/tools/flamegraph.pl --title "HiWay CPU ($(scenario))" $(scenario)/flamegraph-perf.log > $(scenario)/flamegraph.svg
+	./utils/third_party/tools/flamegraph.pl --title "HiWay CPU ($(scenario))" $(scenario)/flamegraph-perf.log > $(scenario)/flamegraph.svg
 
 .PHONY: $(scenario)/flamegraph-perf.log
 $(scenario)/flamegraph-perf.log: build-scenario $(script) smarts/core/* smarts/env/*