Parallel observations

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

@@ -20,6 +20,7 @@ jobs:
           - ./smarts/env/tests/test_rllib_hiway_env.py
           - ./smarts/sstudio
           - ./examples/tests --ignore=./examples/tests/test_learning.py
+          - ./smarts/ray
     steps:
       - name: Checkout
         uses: actions/checkout@v2
@@ -29,7 +30,9 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install -e .[camera_obs,opendrive,rllib,test,test_notebook,torch,train,gym,argoverse]
+          pip install -e .[camera_obs,opendrive,test,test_notebook,torch,train,gym,argoverse]
+          if echo ${{matrix.tests}} | grep -q -e "env" -e "examples"; then pip install -e .[rllib]; fi
+          if echo ${{matrix.tests}} | grep -q "/ray"; then pip install -e .[ray]; fi
       - name: Run smoke tests
         run: |
           . ${{env.venv_dir}}/bin/activate

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

@@ -23,6 +23,7 @@ jobs:
           - ./smarts/env/tests/test_rllib_hiway_env.py
           - ./smarts/core --nb-exec-timeout 65536 --ignore=./smarts/core/tests/test_notebook.py
           - ./smarts/env --ignore=./smarts/env/tests/test_rllib_hiway_env.py
+          - ./smarts/ray
     steps:
       - name: Checkout
         uses: actions/checkout@v2
@@ -48,6 +49,8 @@ jobs:
           pip install wheel==0.38.4
           pip install -r utils/setup/mac_requirements.txt
           pip install -e .[camera_obs,opendrive,rllib,test,test_notebook,torch,train,argoverse]
+          if echo ${{matrix.tests}} | grep -q -e "/env" -e "/examples"; then pip install -e .[rllib]; fi
+          if echo ${{matrix.tests}} | grep -q "/ray"; then pip install -e .[ray]; fi
       - name: Run smoke tests
         run: |
           . ${{env.venv_dir}}/bin/activate

CHANGELOG.md

@@ -17,10 +17,27 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Added baseline example, consisting of training, inference, and zoo agent registration, for the platooning task in Driving SMARTS 2023.3 benchmark.
 - Documented the challenge objective, desired inference code structure, and use of baseline example, for Driving SMARTS 2023.3 benchmark, i.e., platooning task.
 - Added a new scenario consisting of merge-exit map, sumo lead vehicle, and traffic, for the vehicle-following task.
+- Added a `SensorManager` which manages placing sensors on actors in the simulations.
+- The `VehicleState` now has the `bounding_box_points` property to get the vehicle minimum bounding box as a set of points.
+- Added engine configuration options for `core:debug`, `core:observation_workers`, and `core:reset_retries`.
 - Explained in the docs that agents may spawn at different times in multiagent scenarios.
+- Added `RaySensorResolver` as an alternative parallel resolver.
+- Added `[ray]` option for `smarts` package. This currently conflicts with `[rllib]`.
+- Added engine `observation_workers` configuration which can be used to configure the number of parallel sensor workers: 0 runs the sensors on the local thread, >=1 runs using the multiprocessing backing.
+- Added engine `sensor_parallelization` configuration of sensor parallelization backing, options ("mp"|"ray"): "mp" python multiprocessing, "ray" ray worker backing.
+- Added engine `reset_retries` configuration engine retries before the simulator will raise an error on reset.
 ### Changed
 - The trap manager, `TrapManager`, is now a subclass of `ActorCaptureManager`.
 - Considering lane-change time ranges between 3s and 6s, assuming a speed of 13.89m/s, the via sensor lane acquisition range was increased from 40m to 80m, for better driving ability.
+- The `AgentType.Full` now includes `road_waypoints`, `accelerometer`, and `lane_positions`.
+- `ActionSpaceType` has been moved from `controller` to its own file.
+- `VehicleState` has been moved to its own file.
+- Sensors are no longer added and configured in the `agent_manager`. They are instead managed in the `sensor_manager`.
+- Renamed all terminology relating to actor to owner in `VehicleIndex`.
+- Renamed all terminology relating to shadow actor to shadower in `VehicleIndex`.
+- `Collision` has been moved from `smarts.core.observations` to `smarts.core.vehicle_state`.
+- The trap manager, `TrapManager`, is now a subclass of `ActorCaptureManager`.
+- Considering lane-change time ranges between 3s and 6s, assuming a speed of 13.89m/s, the via sensor lane acquisition range was increased from 40m to 80m, for better driving ability.
 - Modified naming of benchmark used in NeurIPS 2022 from driving-smarts-competition-env to driving-smarts-v2022.
 - Sstudio generated scenario vehicle traffic ids are now shortened.
 ### Deprecated
@@ -33,6 +50,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Fixed issues related to waypoints in SUMO maps. Waypoints in junctions should now return all possible paths through the junction.
 ### Removed
 - Removed the deprecated `waymo_browser` utility.
+- Removed camera observation `created_at` attribute from metadata to make observation completely reproducible.
 ### Security
 
 ## [1.0.11] # 2023-04-02

Makefile

@@ -43,6 +43,13 @@ sanity-test: build-sanity-scenarios
 test-learning: build-all-scenarios
 	pytest -v -s -o log_cli=1 -o log_cli_level=INFO ./examples/tests/test_learning.py
 
+.PHONY: test-long-determinism
+test-long-determinism:
+	scl scenario build --clean scenarios/sumo/minicity
+	PYTHONHASHSEED=42 pytest -v \
+		--forked \
+		./smarts/env/tests/test_determinism.py::test_long_determinism
+
 .PHONY: test-memory-growth
 test-memory-growth: build-all-scenarios
 	PYTHONHASHSEED=42 pytest -v \
@@ -54,13 +61,6 @@ test-memory-growth: build-all-scenarios
 	rm -f .coverage.*
 	rm -f .coverage*
 
-.PHONY: test-long-determinism
-test-long-determinism:
-	scl scenario build --clean scenarios/sumo/minicity
-	PYTHONHASHSEED=42 pytest -v \
-		--forked \
-		./smarts/env/tests/test_determinism.py::test_long_determinism
-
 .PHONY: benchmark
 benchmark: build-all-scenarios
 	pytest -v ./smarts/env/tests/test_benchmark.py
@@ -143,7 +143,7 @@ clean:
 	rm -f .coverage*
 
 .PHONY: format
-format:
+format: gen-header
 	echo "isort, version `isort --version-number`"
 	isort -m VERTICAL_HANGING_INDENT --skip-gitignore --ac --tc --profile black ./baselines ./cli ./envision ./examples/ ./utils/ ./scenarios/ ./smarts ./zoo
 	black --version

docs/sim/agent.rst

@@ -156,7 +156,7 @@ A pre-configured `interface` can be extended by supplying extra `kwargs`. For ex
 
     agent_interface = AgentInterface.from_type(
         requested_type = AgentType.Standard,
-        lidar = True, 
+        lidar_point_cloud = True, 
     )
 
 Custom interface

examples/tools/pybullet_sumo_orientation_example.py

@@ -4,14 +4,15 @@
 
 import numpy as np
 
-from smarts.core.actor_role import ActorRole
+from smarts.core.actor import ActorRole
 from smarts.core.chassis import BoxChassis
 from smarts.core.coordinates import Heading, Pose
 from smarts.core.scenario import Scenario
 from smarts.core.sumo_traffic_simulation import SumoTrafficSimulation
 from smarts.core.utils import pybullet
 from smarts.core.utils.pybullet import bullet_client as bc
-from smarts.core.vehicle import VEHICLE_CONFIGS, Vehicle, VehicleState
+from smarts.core.vehicle import VEHICLE_CONFIGS, Vehicle
+from smarts.core.vehicle_state import VehicleState
 
 TIMESTEP_SEC = 1 / 240
 INITIAL_KINEMATICS_VEHICLES = 50

examples/tools/pybullet_vehicle_example.py

@@ -31,6 +31,7 @@ def look_at(client, position=(0, 0, 0), top_down=True):
         )
 
 
+# pytype: disable=name-error
 def run(client, vehicle, plane_body_id, sliders, n_steps=1e6):
     prev_friction_sum = None
 
@@ -50,9 +51,8 @@ def run(client, vehicle, plane_body_id, sliders, n_steps=1e6):
         )
 
         client.stepSimulation()
-        vehicle.sync_to_renderer()
 
-        frictions_ = frictions(sliders)
+        frictions_ = frictions(sliders, client)
 
         if prev_friction_sum is not None and not math.isclose(
             sum(frictions_.values()), prev_friction_sum
@@ -74,7 +74,10 @@ def run(client, vehicle, plane_body_id, sliders, n_steps=1e6):
         )
 
 
-def frictions(sliders):
+# pytype: enable=name-error
+
+
+def frictions(sliders, client):
     return dict(
         lateralFriction=client.readUserDebugParameter(sliders["lateral_friction"]),
         spinningFriction=client.readUserDebugParameter(sliders["spinning_friction"]),
@@ -128,7 +131,7 @@ def frictions(sliders):
         path = str(path.absolute())
         plane_body_id = client.loadURDF(path, useFixedBase=True)
 
-        client.changeDynamics(plane_body_id, -1, **frictions(sliders))
+        client.changeDynamics(plane_body_id, -1, **frictions(sliders, client))
 
         pose = pose = Pose.from_center((0, 0, 0), Heading(0))
         vehicle = Vehicle(

setup.cfg

@@ -94,6 +94,8 @@ rllib =
     opencv-python==4.1.2.30
     opencv-python-headless==4.1.2.30
     ray[rllib]==1.4.0
+ray = 
+    ray~=2.2.0
 ros = 
     catkin_pkg
     rospkg

smarts/core/actor.py

@@ -63,4 +63,6 @@ def __hash__(self) -> int:
         return hash(self.actor_id)
 
     def __eq__(self, other) -> bool:
-        return self.__class__ == other.__class__ and hash(self) == hash(other)
+        return self.__class__ == other.__class__ and hash(self.actor_id) == hash(
+            other.actor_id
+        )

smarts/core/actor_capture_manager.py

@@ -89,7 +89,7 @@ def __make_new_social_vehicle(sim, agent_id, initial_speed):
             social_agent_spec,
             social_agent_model,
         )
-        vehicles = sim.vehicle_index.vehicles_by_actor_id(agent_id)
+        vehicles = sim.vehicle_index.vehicles_by_owner_id(agent_id)
 
         return vehicles[0] if len(vehicles) else None
 

smarts/core/agent_interface.py

@@ -22,7 +22,7 @@
 from enum import IntEnum
 from typing import List, Optional, Tuple, Union
 
-from smarts.core.controllers import ActionSpaceType
+from smarts.core.controllers.action_space_type import ActionSpaceType
 from smarts.core.lidar_sensor_params import BasicLidar
 from smarts.core.lidar_sensor_params import SensorParams as LidarSensorParams
 
@@ -367,10 +367,13 @@ def from_type(requested_type: AgentType, **kwargs):
             interface = AgentInterface(
                 neighborhood_vehicle_states=True,
                 waypoint_paths=True,
+                road_waypoints=True,
                 drivable_area_grid_map=True,
                 occupancy_grid_map=True,
                 top_down_rgb=True,
                 lidar_point_cloud=True,
+                accelerometer=True,
+                lane_positions=True,
                 signals=True,
                 action=ActionSpaceType.Continuous,
             )