Add remove_provider method (#1917)

* Add remove_provider method.

* Update changelog.

CHANGELOG.md

@@ -10,6 +10,8 @@ Copy and pasting the git commit messages is __NOT__ enough.
 
 ## [Unreleased]
 ### 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
@@ -21,7 +23,6 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### 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
-- Added vehicle of interest coloring through scenario studio. This lets the scenario color vehicles that match a certain pattern of vehicle id.
 ### Changed
 - Changed the `lanepoint_spacing` setting in `MapSpec` to be non-optional. Lanepoints are now generated lazily when waypoints are used.
 ### Deprecated

smarts/core/smarts.py

@@ -21,7 +21,7 @@
 import logging
 import os
 import warnings
-from typing import Any, Dict, Iterable, List, Optional, Sequence, Set, Tuple
+from typing import Any, Dict, Iterable, List, Optional, Sequence, Set, Tuple, Union
 
 import numpy as np
 from scipy.spatial.distance import cdist
@@ -503,6 +503,33 @@ def _insert_provider(
         provider.recovery_flags = recovery_flags
         self._providers.insert(index, provider)
 
+    def remove_provider(self, requested_type_or_provider: Union[type, Provider]):
+        """Remove a provider from the simulation.
+
+        Args:
+            requested_type (type | Provider): The type of the provider to remove or provider to remove.
+
+        Returns:
+            Optional[Provider]: The provider that was removed.
+        """
+        self._check_valid()
+        out_provider = None
+        if isinstance(requested_type_or_provider, type):
+            for i, provider in enumerate(self._providers):
+                if isinstance(provider, requested_type_or_provider):
+                    self._providers.pop(i)
+                    out_provider = provider
+        elif isinstance(requested_type_or_provider, Provider):
+            try:
+                self._providers.remove(requested_type_or_provider)
+            except ValueError:
+                pass
+            else:
+                out_provider = requested_type_or_provider
+        if isinstance(out_provider, TrafficProvider):
+            self._traffic_sims.remove(out_provider)
+        return out_provider
+
     def switch_ego_agents(self, agent_interfaces: Dict[str, AgentInterface]):
         """Change the ego agents in the simulation. Effective on the next reset."""
         self._check_valid()