Release 0 4 16 (#841)

See README
huawei-noah · May 11, 2021 · c5a1608 · c5a1608
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diff --git a/.github/workflows/ci-smarts-run-ultra-tests.yml b/.github/workflows/ci-smarts-run-ultra-tests.yml
@@ -0,0 +1,108 @@
+name: SMARTS scheduled run of ULTRA tests
+
+on:
+  schedule:
+    - cron: '0 11 * * 3'
+      # Time is in UTC
+      # Runs at 11.00pm, UTC  , every Wednesday
+      # Runs at  7.00pm, UTC-4, every Wednesday
+  workflow_dispatch:
+
+
+# Should be the same as ci-ultra-tests
+jobs:
+  test-base:
+    runs-on: ubuntu-18.04
+    container: huaweinoah/smarts:v0.4.13-minimal
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+        with:
+          ref: develop
+      - name: Setup X11
+        run: |
+          /usr/bin/Xorg \
+            -noreset \
+            +extension GLX \
+            +extension RANDR \
+            +extension RENDER \
+            -logfile ./xdummy.log \
+            -config /etc/X11/xorg.conf :1 &
+      - name: Install dependencies
+        run: |
+          cd ultra
+          python3.7 -m venv .venv
+          . .venv/bin/activate
+          pip install --upgrade --upgrade-strategy eager pip
+          pip install --upgrade --upgrade-strategy eager wheel
+          pip install --upgrade -e .
+          pip install --upgrade numpy
+      - name: Run ultra tests
+        run: |
+          cd ultra
+          . .venv/bin/activate
+          scl scenario build-all ultra/scenarios/pool
+          pytest -v ./tests/
+  test-package-via-setup:
+    runs-on: ubuntu-18.04
+    container: huaweinoah/smarts:v0.4.13-minimal
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Setup X11
+        run: |
+          /usr/bin/Xorg \
+            -noreset \
+            +extension GLX \
+            +extension RANDR \
+            +extension RENDER \
+            -logfile ./xdummy.log \
+            -config /etc/X11/xorg.conf :1 &
+      - name: Install ultra-rl via setup.py
+        run: |
+          cd ultra
+          python3.7 -m venv .venv
+          . .venv/bin/activate
+          pip install --upgrade pip
+          pip install --upgrade -e .
+          pip install --upgrade numpy
+      - name: Run test
+        run: |
+          cd ultra
+          . .venv/bin/activate
+          scl scenario build-all ultra/scenarios/pool
+          pytest -v ./tests/test_ultra_package.py
+  test-package-via-wheel:
+    runs-on: ubuntu-18.04
+    container: huaweinoah/smarts:v0.4.13-minimal
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Setup X11
+        run: |
+          /usr/bin/Xorg \
+            -noreset \
+            +extension GLX \
+            +extension RANDR \
+            +extension RENDER \
+            -logfile ./xdummy.log \
+            -config /etc/X11/xorg.conf :1 &
+      - name: Install ultra-rl via whl file
+        run: |
+          cd ultra
+          python3.7 -m venv .venv
+          . .venv/bin/activate
+          pip install --upgrade --upgrade-strategy eager pip
+          pip install --upgrade --upgrade-strategy eager wheel
+          pip install --upgrade --upgrade-strategy eager -e .
+          python setup.py bdist_wheel
+          cd dist
+          pip install $(ls . | grep ultra)
+          pip install --upgrade numpy
+          cd ..
+      - name: Run test
+        run: |
+          cd ultra
+          . .venv/bin/activate
+          scl scenario build-all ultra/scenarios/pool
+          pytest -v ./tests/test_ultra_package.py
diff --git a/.github/workflows/ci-test-learning.yml b/.github/workflows/ci-test-learning.yml
@@ -5,7 +5,7 @@ on:
     - cron: '0 23 * * 2'
       # Time is in UTC
       # Runs at 11.00pm, UTC  , every Tuesday
-      # Runs at  6.00pm, UTC-5, every Tuesday
+      # Runs at  7.00pm, UTC-4, every Tuesday
   workflow_dispatch:
 
 env:

diff --git a/.github/workflows/ci-test-long-determinism.yml b/.github/workflows/ci-test-long-determinism.yml
@@ -5,7 +5,7 @@ on:
     - cron: '0 23 * * 6'
       # Time is in UTC
       # Runs at 11.00pm, UTC  , every Saturday
-      # Runs at  6.00pm, UTC-5, every Saturday
+      # Runs at  7.00pm, UTC-4, every Saturday
   workflow_dispatch:
 
 env:

diff --git a/.github/workflows/ci-test-memory-growth.yml b/.github/workflows/ci-test-memory-growth.yml
@@ -5,7 +5,7 @@ on:
     - cron: '0 23 * * 4'
       # Time is in UTC
       # Runs at 11.00pm, UTC  , every Thursday
-      # Runs at  6.00pm, UTC-5, every Thursday
+      # Runs at  7.00pm, UTC-4, every Thursday
   workflow_dispatch:
 
 env:

diff --git a/.github/workflows/ci-ultra-tests.yml b/.github/workflows/ci-ultra-tests.yml
@@ -1,9 +1,19 @@
 name: ULTRA CI Base Tests
 
-on: [push, pull_request]
+on: 
+  push:
+    branches:
+      - ultra-**
+      - ultra_**
+      - ultra/**
+  pull_request:
+    branches:
+      - ultra-**
+      - ultra_**
+      - ultra/**
 
 jobs:
-  test-base:
+  test-heavy-base-tests:
     runs-on: ubuntu-18.04
     if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
     container: huaweinoah/smarts:v0.4.13-minimal
@@ -28,12 +38,58 @@ jobs:
           pip install --upgrade --upgrade-strategy eager wheel
           pip install --upgrade -e .
           pip install --upgrade numpy
-      - name: Run ultra tests
+      - name: Run ultra tests (heavy)
         run: |
           cd ultra
           . .venv/bin/activate
           scl scenario build-all ultra/scenarios/pool
-          pytest -v ./tests/
+          pytest -v \
+          ./tests/ \
+          --ignore=./tests/test_ultra_package.py \
+          --ignore=./tests/test_adapter.py \
+          --ignore=./tests/test_env.py \
+          --ignore=./tests/test_episodes.py \
+          --ignore=./tests/test_scenarios.py \
+          --ignore=./tests/test_social_vehicles.py \
+          --ignore=./tests/test_rllib_train.py \
+
+  test-light-base-tests:
+    runs-on: ubuntu-18.04
+    if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
+    container: huaweinoah/smarts:v0.4.13-minimal
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Setup X11
+        run: |
+          /usr/bin/Xorg \
+            -noreset \
+            +extension GLX \
+            +extension RANDR \
+            +extension RENDER \
+            -logfile ./xdummy.log \
+            -config /etc/X11/xorg.conf :1 &
+      - name: Install dependencies
+        run: |
+          cd ultra
+          python3.7 -m venv .venv
+          . .venv/bin/activate
+          pip install --upgrade --upgrade-strategy eager pip
+          pip install --upgrade --upgrade-strategy eager wheel
+          pip install --upgrade -e .
+          pip install --upgrade numpy
+      - name: Run ultra tests (light)
+        run: |
+          cd ultra
+          . .venv/bin/activate
+          scl scenario build-all ultra/scenarios/pool
+          pytest -v \
+          ./tests/ \
+          --ignore=./tests/test_ultra_package.py \
+          --ignore=./tests/test_train.py \
+          --ignore=./tests/test_evaluate.py \
+          --ignore=./tests/test_analysis.py \
+
   test-package-via-setup:
     runs-on: ubuntu-18.04
     if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
@@ -64,6 +120,7 @@ jobs:
           . .venv/bin/activate
           scl scenario build-all ultra/scenarios/pool
           pytest -v ./tests/test_ultra_package.py
+
   test-package-via-wheel:
     runs-on: ubuntu-18.04
     if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository
@@ -85,9 +142,9 @@ jobs:
           cd ultra
           python3.7 -m venv .venv
           . .venv/bin/activate
-          pip install --upgrade --upgrade-strategy eager pip
-          pip install --upgrade --upgrade-strategy eager wheel
-          pip install --upgrade --upgrade-strategy eager -e .
+          pip install --upgrade pip
+          pip install --upgrade -e .
+          pip install --upgrade numpy
           python setup.py bdist_wheel
           cd dist
           pip install $(ls . | grep ultra)
@@ -99,6 +156,7 @@ jobs:
           . .venv/bin/activate
           scl scenario build-all ultra/scenarios/pool
           pytest -v ./tests/test_ultra_package.py
+
   # test-package-via-pypi:
   #   runs-on: ubuntu-18.04
   #   if: github.event_name == 'push' || github.event.pull_request.head.repo.full_name != github.repository

diff --git a/.gitignore b/.gitignore
@@ -24,6 +24,7 @@ wheels/
 .installed.cfg
 .DS_Store
 MANIFEST
+sanity_test_result.xml
 pip-wheel-metadata/
 
 # PyInstaller
@@ -96,6 +97,7 @@ venv
 *.rou.alt.xml
 *.rou.xml
 *.trips.xml
+shifted_map-AUTOGEN.net.xml
 *.egg
 *.glb
 *flamegraph-perf.log
@@ -112,6 +114,7 @@ traffic_histories.pkl
 
 # but keep model assets
 !**/models/*.glb
+*.blend1
 
 # run logs
 _run_logs

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -8,16 +8,38 @@ All text added must be human readable.
 
 Copy and pasting the git commit messages is __NOT__ enough.
 
-## [Unrealeased]
+## [Unreleased]
+
+## [0.4.16] - 2021-05-11
+### Added 
+- Added `sanity-test` script and asked new users to run `sanity-test` instead of `make test` to ease the setup
+process
+- Added `on_shoulder` as part of events in observation returned from each step of simulation
+- Added description of map creation and how to modify the map to allow users to create their own traffic routes in docs
+- Added reference to SMARTS paper in front page of docs
+- Only create `Renderer` on demand if vehicles are using camera-based sensors. See issue #725.
+- Added glb models for pedestrians and motorcycles
+- Added `near realtime` mode and `uncapped` mode in Envision
+- Added `--allow-offset-map` option for `scl scenario build` to prevent auto-shifting of Sumo road networks
+- Added options in `DoneCriteria` to trigger ego agent to be done based on other agent's done situation
+### Changed
+- Refactored SMARTS class to not inherit from Panda3D's ShowBase; it's aggregated instead. See issue #597.
+### Fixed
+- Fixed the bug of events such as off_road not registering in observation when off_road is set to false in DoneCriteria
+- Fixed Sumo road network offset bug for shifted maps.  See issue #716.
+- Fixed traffic generation offset bug for shifted maps.  See issue #790.
+- Fixed bugs in traffic history and changed interface to it.  See issue #732.
+- Update `ego_open_agent` to use the package instead of the zoo directory version.
+- Quieted error logs generated by failed Envision connections as well as noisy pybullet log messages.  See issue #819.
 
 ## [0.4.15] - 2021-03-18
 ### Added
 - This CHANGELOG as a change log to help keep track of changes in the SMARTS project that can get easily lost.
 - Hosted Documentation on `readthedocs` and pointed to the smarts paper and useful parts of the documentation in the README.
-- Running imitation learning will now create a cached history_mission.pkl file in scenario folder that stores 
+- Running imitation learning will now create a cached `history_mission.pkl` file in scenario folder that stores 
 the missions for all agents.
 - Added ijson as a dependency. 
-- Added cached_property as a dependency.
+- Added `cached_property` as a dependency.
 ### Changed
 - Lowered CPU cost of waypoint generation. This will result in a small increase in memory usage.
 - Set the number of processes used in `make test` to ignore 2 CPUs if possible.
@@ -30,6 +52,7 @@ we now initially shift road networks (maps) that are offset back to the origin
 using [netconvert](https://sumo.dlr.de/docs/netconvert.html).
 We adapt Sumo vehicle positions to take this into account to allow Sumo to continue
 using the original coordinate system.  See Issue #325.
+    - This fix will require all Scenarios to be rebuilt (`scl scenario build-all --clean ./scenarios`).
 - Cleanly close down the traffic history provider thread. See PR #665.
 - Improved the disposal of a SMARTS instance. See issue #378.
 - Envision now resumes from current frame after un-pausing.

diff --git a/minimal.Dockerfile → Dockerfile.minimal b/minimal.Dockerfile → Dockerfile.minimal
@@ -2,7 +2,7 @@
 # ```bash
 # $ export VERSION=v0.4.13
 # $ cd /path/to/SMARTS
-# $ docker build -t huaweinoah/smarts:$VERSION-minimal -f minimal.Dockerfile .
+# $ docker build -t huaweinoah/smarts:$VERSION-minimal -f Dockerfile.minimal .
 # $ docker push huaweinoah/smarts:$VERSION-minimal
 # ```
 

diff --git a/Makefile b/Makefile
@@ -14,6 +14,24 @@ test: build-all-scenarios
 		--ignore=./smarts/env/tests/test_learning.py \
 		-k 'not test_long_determinism'
 
+.PHONY: sanity-test
+sanity-test: build-all-scenarios
+	./tests/test_setup.py
+	PYTHONHASHSEED=42 pytest -v \
+		--doctest-modules \
+		--forked \
+		--dist=loadscope \
+		--junitxml="sanity_test_result.xml" \
+		-n `nproc --ignore 2` \
+		./smarts/core/tests/test_python_version.py::test_python_version \
+		./smarts/core/tests/test_sumo_version.py::test_sumo_version \
+		./smarts/core/tests/test_dynamics_backend.py::test_set_pose \
+		./smarts/core/tests/test_sensors.py::test_waypoints_sensor \
+		./smarts/core/tests/test_smarts.py::test_smarts_doesnt_leak_tasks_after_reset \
+		./tests/test_examples.py::test_examples[multi_agent] \
+		./tests/test_examples.py::test_multi_instance_example \
+		./smarts/env/tests/test_social_agent.py::test_social_agents
+
 .PHONY: test-learning
 test-learning: build-all-scenarios
 	pytest -v -s -o log_cli=1 -o log_cli_level=INFO ./smarts/env/tests/test_learning.py

diff --git a/README.md b/README.md
@@ -76,9 +76,10 @@ pip install --upgrade pip
 # install [train] version of python package with the rllib dependencies
 pip install -e .[train]
 
-# make sure you can run tests (and verify they are passing)
+# make sure you can run sanity-test (and verify they are passing)
+# if tests fail, check './sanity_test_result.xml' for test report. 
 pip install -e .[test]
-make test
+make sanity-test
 
 # then you can run a scenario, see following section for more details
 ```
@@ -291,9 +292,10 @@ If you use SMARTS in your research, please cite the [paper](https://arxiv.org/ab
 @misc{zhou2020smarts,
       title={SMARTS: Scalable Multi-Agent Reinforcement Learning Training School for Autonomous Driving},
       author={Ming Zhou and Jun Luo and Julian Villella and Yaodong Yang and David Rusu and Jiayu Miao and Weinan Zhang and Montgomery Alban and Iman Fadakar and Zheng Chen and Aurora Chongxi Huang and Ying Wen and Kimia Hassanzadeh and Daniel Graves and Dong Chen and Zhengbang Zhu and Nhat Nguyen and Mohamed Elsayed and Kun Shao and Sanjeevan Ahilan and Baokuan Zhang and Jiannan Wu and Zhengang Fu and Kasra Rezaee and Peyman Yadmellat and Mohsen Rohani and Nicolas Perez Nieves and Yihan Ni and Seyedershad Banijamali and Alexander Cowen Rivers and Zheng Tian and Daniel Palenicek and Haitham bou Ammar and Hongbo Zhang and Wulong Liu and Jianye Hao and Jun Wang},
+      url={https://arxiv.org/abs/2010.09776},
+      primaryClass={cs.MA},
+      booktitle={Proceedings of the 4th Conference on Robot Learning (CoRL)},
       year={2020},
-      eprint={2010.09776},
-      archivePrefix={arXiv},
-      primaryClass={cs.MA}
-}
+      month={11}
+ }
 ```