From 9410ff18c4c2ecb2b2854375a25a81386f21b4bd Mon Sep 17 00:00:00 2001
From: Tucker <montgomery.alban@huawei.com>
Date: Sat, 6 Jan 2024 18:48:23 -0500
Subject: [PATCH] Fix last of tests.

---
 smarts/core/agent_interface.py    |  6 ++----
 smarts/core/tests/test_vehicle.py |  4 ++--
 smarts/core/vehicle.py            | 15 ++++++---------
 3 files changed, 10 insertions(+), 15 deletions(-)

diff --git a/smarts/core/agent_interface.py b/smarts/core/agent_interface.py
index ee7b640756..1f974734cb 100644
--- a/smarts/core/agent_interface.py
+++ b/smarts/core/agent_interface.py
@@ -268,12 +268,10 @@ class AgentInterface:
     debug: bool = False
     """Enable debug information for the various sensors and action spaces."""
 
-    event_configuration: EventConfiguration = field(
-        default_factory=lambda: EventConfiguration()
-    )
+    event_configuration: EventConfiguration = field(default_factory=EventConfiguration)
     """Configurable criteria of when to trigger events"""
 
-    done_criteria: DoneCriteria = field(default_factory=lambda: DoneCriteria())
+    done_criteria: DoneCriteria = field(default_factory=DoneCriteria)
     """Configurable criteria of when to mark this actor as done. Done actors will be
     removed from the environment and may trigger the episode to be done."""
 
diff --git a/smarts/core/tests/test_vehicle.py b/smarts/core/tests/test_vehicle.py
index 342cfda8eb..56cfd8d2c3 100644
--- a/smarts/core/tests/test_vehicle.py
+++ b/smarts/core/tests/test_vehicle.py
@@ -153,8 +153,8 @@ def check_attr(sensor_control_name):
                 sensor_attach = sensor_attach.fget
             assert isinstance(sensor_attach, partial)
             assert (
-                vehicle.id == sensor_attach.keywords["self"].id
-            ), f"{vehicle.id} | {sensor_attach.keywords['self'].id}"
+                vehicle.id == sensor_attach.func.__self__.id
+            ), f"{vehicle.id} | {sensor_attach.func.__self__.id}"
 
     for sensor_name in vehicle.sensor_names:
         check_attr(f"attach_{sensor_name}")
diff --git a/smarts/core/vehicle.py b/smarts/core/vehicle.py
index dab6dde1cb..e8b5d811a5 100644
--- a/smarts/core/vehicle.py
+++ b/smarts/core/vehicle.py
@@ -264,11 +264,10 @@ def valid(self) -> bool:
         """Check if the vehicle still `exists` and is still operable."""
         return self._initialized
 
-    @classmethod
     @property
-    def sensor_names(cls) -> Tuple[str]:
+    def sensor_names(self) -> Tuple[str]:
         """The names of the sensors that are potentially available to this vehicle."""
-        return cls._sensor_names
+        return self._sensor_names
 
     @staticmethod
     @lru_cache(maxsize=None)
@@ -467,6 +466,7 @@ def add_sensor_if_needed(
                 vehicle.attach_sensor(sensor, sensor_name)
                 added_sensors.append((sensor_name, sensor))
 
+        # pytype: disable=attribute-error
         add_sensor_if_needed(TripMeterSensor, sensor_name="trip_meter_sensor")
         add_sensor_if_needed(DrivenPathSensor, sensor_name="driven_path_sensor")
         if agent_interface.neighborhood_vehicle_states:
@@ -555,6 +555,7 @@ def add_sensor_if_needed(
                 "signals_sensor",
                 lookahead=agent_interface.signals.lookahead,
             )
+        # pytype: enable=attribute-error
 
         for sensor_name, sensor in added_sensors:
             if not sensor:
@@ -676,16 +677,12 @@ def _meta_create_instance_sensor_functions(self):
             setattr(
                 self,
                 f"attach_{sensor_name}",
-                partial(
-                    self.__class__.attach_sensor, self=self, sensor_name=sensor_name
-                ),
+                partial(self.attach_sensor, sensor_name=sensor_name),
             )
             setattr(
                 self,
                 f"detach_{sensor_name}",
-                partial(
-                    self.__class__.detach_sensor, self=self, sensor_name=sensor_name
-                ),
+                partial(self.detach_sensor, sensor_name=sensor_name),
             )
 
     @classmethod