8000 fix: simbench fixes by MagdalenaKotynia · Pull Request #443 · RobotecAI/rai · GitHub
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fix: simbench fixes #443

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Merged
merged 2 commits into from
Feb 28, 2025
Merged

fix: simbench fixes #443

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1504bda
fix: add missing do_transform_pose missed after rebase and merge of #437
MagdalenaKotynia Feb 28, 2025
0829bdb
feat: improved directories structure of benchmark.log and results.log…
MagdalenaKotynia Feb 28, 2025
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11 changes: 9 additions & 2 deletions src/rai_bench/rai_bench/examples/o3de_test_benchmark.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
########### EXAMPLE USAGE ###########
import logging
import time
from datetime import datetime
from pathlib import Path
from typing import List

Expand Down Expand Up @@ -69,7 +70,12 @@
GetROS2TopicsNamesAndTypesTool(connector=connector),
]
# define loggers
log_file = "src/rai_bench/rai_bench/benchmark.log"
now = datetime.now()
experiment_dir = (
f"src/rai_bench/rai_bench/experiments/{now.strftime('%Y-%m-%d_%H-%M-%S')}"
)
Path(experiment_dir).mkdir(parents=True, exist_ok=True)
log_file = f"{experiment_dir}/benchmark.log"
file_handler = logging.FileHandler(log_file)
file_handler.setLevel(logging.DEBUG)

Expand Down Expand Up @@ -159,11 +165,12 @@

o3de = O3DEngineArmManipulationBridge(connector, logger=agent_logger)
# define benchamrk
results_filename = f"{experiment_dir}/results.csv"
benchmark = Benchmark(
simulation_bridge=o3de,
scenarios=scenarios,
logger=bench_logger,
results_filename="src/rai_bench/rai_bench/results.csv",
results_filename=results_filename,
)
for i, s in enumerate(scenarios):
agent = create_conversational_agent(
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4 changes: 4 additions & 0 deletions src/rai_sim/rai_sim/o3de/o3de_bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -176,6 +176,9 @@ def get_object_pose(self, entity: SpawnedEntity) -> Pose:
ROS2Pose(),
self.connector.get_transform(object_frame + "odom", object_frame),
)
ros2_pose = do_transform_pose(
ros2_pose, self.connector.get_transform("world", "odom")
)
return self._from_ros2_pose(ros2_pose)

def get_scene_state(self) -> SceneState:
Expand Down Expand Up @@ -274,6 +277,7 @@ def setup_scene(self, simulation_config: O3DExROS2SimulationConfig):
else:
while self.spawned_entities:
self._despawn_entity(self.spawned_entities[0])
self.logger.info(f"Entities after despawn: {self.spawned_entities}")

for entity in simulation_config.entities:
self._spawn_entity(entity)
Expand Down
0