Fix "hiway-v1" interface

smarts/core/smarts.py

@@ -1513,9 +1513,7 @@ def _check_ground_plane(self):
             )
             self._setup_pybullet_ground_plane(self._bullet_client)
 
-    def _try_emit_envision_state(self, provider_state: ProviderState, obs, scores):
-        if not self._envision:
-            return
+    def _gen_envision_state(self, provider_state: ProviderState, obs, scores):
 
         filter = self._envision.envision_state_filter
 
@@ -1671,6 +1669,12 @@ def _try_emit_envision_state(self, provider_state: ProviderState, obs, scores):
             ego_agent_ids=list(self._agent_manager.ego_agent_ids),
             frame_time=self._rounder(self._elapsed_sim_time + self._total_sim_time),
         )
+        return state
+
+    def _try_emit_envision_state(self, provider_state: ProviderState, obs, scores):
+        if not self._envision:
+            return
+        state = self._gen_envision_state(provider_state, obs, scores)
         self._envision.send(state)
 
     def _try_emit_visdom_obs(self, obs):

smarts/env/gymnasium/hiway_env_v1.py

@@ -139,9 +139,6 @@ class HiWayEnvV1(gym.Env):
     action_space: spaces.Space
     observation_space: spaces.Space
 
-    # Created
-    _np_random: Optional[np.random.Generator] = None
-
     def __init__(
         self,
         scenarios: Sequence[str],
@@ -403,27 +400,16 @@ def close(self):
         if self._smarts is not None:
             self._smarts.destroy()
 
-    @property
-    def unwrapped(self) -> gym.Env[ObsType, ActType]:
-        """Returns the base non-wrapped environment.
-
-        Returns:
-            Env: The base non-wrapped :class:`gymnasium.Env` instance
-        """
-        return self
-
     @property
     def np_random(self) -> np.random.Generator:
-        """Returns the environment's internal :attr:`_np_random` that if not set will initialise with a random seed.
-
-        Returns:
-            Instances of `np.random.Generator`.
-        """
         return super().np_random
 
     @np_random.setter
     def np_random(self, value: np.random.Generator):
-        self._np_random = value
+        warnings.warn(
+            "The generator in `np_random` is not used. This method will have no effect on the environment."
+        )
+        super()._np_random = value
 
     def __str__(self):
         """Returns a string of the environment with :attr:`spec` id's if :attr:`spec`.