8000 refactor: requested changes to rai_bench by jmatejcz · Pull Request #439 · RobotecAI/rai · GitHub
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refactor: requested changes to rai_bench #439

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Merged
merged 13 commits into from
Feb 27, 2025
Merged

refactor: requested changes to rai_bench #439

merged 13 commits into from
Feb 27, 2025

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jmatejcz
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@jmatejcz jmatejcz commented Feb 26, 2025 •
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Purpose

Changes to rai_bench package requested in #435

Proposed Changes

Style changes
Added package descriptions and fixed dependencies
Unnecessary code removed
Moved main.py to examples/ folder
Saving results to file now after every Scenario

Issues

Testing

Instructions for running a single benchmark:

  1. Setup the repository
  2. Install dependencies listed in:
    https://github.com/RobotecAI/rai/blob/main/docs/demos/manipulation.md

and:

poetry install --with openset
colcon build --symlink-install
source setup_shell.sh

  1. Download GameLauncher binary: humble or jazzy

  2. Populate src/rai_bench/rai_bench/o3de_test_bench/configs/o3de_config.yaml with:

binary_path: /path/to/your/GameLauncher
robotic_stack_command: ros2 launch examples/manipulation-demo-no-binary.launch.py
required_services:
  - /grounding_dino_classify
  - /grounded_sam_segment
  - /manipulator_move_to
  - /spawn_entity
  - /delete_entity
required_topics:
  - /color_image5
  - /depth_image5
  - /color_camera_info5
required_actions: []
  1. Run the benchmark
python src/rai_bench/rai_bench/examples/o3de_test_benchmark.py
  1. What to look for:
  • If simulation starts
  • If all 4 Scenarios run
  • If results are saved after every scenario to src/rai_bench/rai_bench/results.csv

@jmatejcz jmatejcz changed the title Jm/feat/rai bench refactor: requested changes to rai_bench Feb 26, 2025
@jmatejcz jmatejcz marked this pull request as ready for review February 26, 2025 16:34
@jmatejcz jmatejcz requested a review from maciejmajek February 26, 2025 16:34
maciejmajek
maciejmajek requested changes Feb 26, 2025
View reviewed changes
@jmatejcz jmatejcz requested a review from maciejmajek February 27, 2025 11:40
@maciejmajek maciejmajek merged commit 053eb81 into feat/simbench Feb 27, 2025
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@maciejmajek maciejmajek deleted the jm/feat/rai_bench branch February 27, 2025 13:42
maciejmajek pushed a commit that referenced this pull request Mar 7, 2025
@jmatejcz @maciejmajek
refactor: requested changes to rai_bench (#439)
2aace03
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@maciejmajek maciejmajek maciejmajek approved these changes

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@jmatejcz @maciejmajek
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