Make final changes.

CHANGELOG.md

@@ -231,6 +231,8 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Included `RelativeTargetPose` action space to the set of allowed action spaces in `platoon-v0` env.
 - `Collision.collidee_id` now gives the vehicle id rather than the name of the owner of the vehicle (usually the agent id.) `Collision.collidee_owner_id` now provides the id of the controlling `agent` (or other controlling entity in the future.) This is because 1) `collidee_id` should refer to the body and 2) in most cases the owner name would be `None`.
 - Entry tactics now use conditions to determine when they should capture an actor.
+- Docker images from now on out base from ``ubuntu:focal``.
+- A new Docker image has been added for software rendering for use cases where there is no display and GPU.
 ### Deprecated
 ### Fixed
 - Fixed issues related to waypoints in junctions on Argoverse maps. Waypoints will now be generated for all paths leading through the lane(s) the vehicle is on.

smarts/core/tests/test_renderers.py

@@ -21,7 +21,6 @@
 # THE SOFTWARE.
 import importlib.resources as pkg_resources
 import math
-import threading
 from typing import Optional, Set
 
 import numpy as np
@@ -160,12 +159,10 @@ def test_custom_shader_pass_buffers(
     # Construct the renderer
     # Construct the shader pass
     # Use a shader that uses all buffers
-    # Each buffer in the shader is assigned to a pixel.
     # Assign all shader buffers in the pass.
-    # Update the shader pass using the observation
+    # Update the shader pass using the current observation
     # Render
-    # Get the render texture from the shader pass
-    # Test each pixel for the expected value.
+    # Test that the pixels default to white. (black is error)
 
     assert renderer
     renderer.reset()

smarts/p3d/renderer.py

@@ -120,8 +120,8 @@ def __new__(cls):
             loadPrcFileData("", "aux-display pandagl")
             loadPrcFileData("", "aux-display pandadx9")
             loadPrcFileData("", "aux-display pandadx8")
-            # loadPrcFileData("", "aux-display pandagles")
-            # loadPrcFileData("", "aux-display pandagles2")
+            loadPrcFileData("", "aux-display pandagles")
+            loadPrcFileData("", "aux-display pandagles2")
             loadPrcFileData("", "aux-display p3headlessgl")
             loadPrcFileData("", "aux-display p3tinydisplay")