adjusted to rebase, delete some garbage files

RobotecAI · Feb 18, 2025 · 27861db · 27861db
1 parent 028f141
commit 27861db
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Showing 4 changed files with 6 additions and 18 deletions.
diff --git a/imgui.ini b/imgui.ini
diff --git a/setup_shell.sh b/setup_shell.sh
@@ -30,7 +30,4 @@ esac
 
 export PYTHONPATH
 PYTHONPATH="$(dirname "$(dirname "$(poetry run which python)")")/lib/python$(poetry run python --version | awk '{print $2}' | cut -d. -f1,2)/site-packages:$PYTHONPATH"
-PYTHONPATH="src/rai_core:$PYTHONPATH"
-PYTHONPATH="src/rai_asr:$PYTHONPATH"
-PYTHONPATH="src/rai_tts:$PYTHONPATH"
-export ROS_DOMAIN_ID=201
+
diff --git a/src/rai_bench/o3de_test_bench/main.py b/src/rai_bench/o3de_test_bench/main.py
@@ -12,7 +12,6 @@
 from rai.tools.ros.manipulation import GetObjectPositionsTool, MoveToPointTool
 from rai.tools.ros2.topics import GetROS2ImageTool, GetROS2TopicsNamesAndTypesTool
 from rai.utils.model_initialization import get_llm_model
-from rai_sim.config_loader import load_simulation_config
 from rai_sim.o3de.o3de_connector import (
     O3DEngineArmManipulationConnector,
     O3DExROS2SimulationConfig,
@@ -176,20 +175,17 @@ def request_to_base_position() -> ManipulatorMoveTo.Request:
     ]
 
     # load different scenes
-    one_carrot_scene_config = load_simulation_config(
+    one_carrot_scene_config = O3DExROS2SimulationConfig.load_config(
         base_config_path=Path("src/rai_bench/o3de_test_bench/scene1.yaml"),
         connector_config_path=Path("src/rai_bench/o3de_test_bench/o3de_config.yaml"),
-        config_type=O3DExROS2SimulationConfig,
     )
-    multiple_carrot_scene_config = load_simulation_config(
+    multiple_carrot_scene_config = O3DExROS2SimulationConfig.load_config(
         base_config_path=Path("src/rai_bench/o3de_test_bench/scene2.yaml"),
         connector_config_path=Path("src/rai_bench/o3de_test_bench/o3de_config.yaml"),
-        config_type=O3DExROS2SimulationConfig,
     )
-    red_cubes_scene_config = load_simulation_config(
+    red_cubes_scene_config = O3DExROS2SimulationConfig.load_config(
         base_config_path=Path("src/rai_bench/o3de_test_bench/scene3.yaml"),
         connector_config_path=Path("src/rai_bench/o3de_test_bench/o3de_config.yaml"),
-        config_type=O3DExROS2SimulationConfig,
     )
     # combine different scene configs with the tasks to create various scenarios
     scenarios = [

diff --git a/src/rai_bench/rai_bench/benchmark_model.py b/src/rai_bench/rai_bench/benchmark_model.py
@@ -21,8 +21,8 @@
 from pydantic import BaseModel, ConfigDict
 
 from rai.messages import HumanMultimodalMessage
-from rai_sim.engine_connector import SimulationConnector, SimulationConfig
-from rai_sim.engine_connector import PoseModel
+from rai_sim.simulation_connector import SimulationConnector, SimulationConfig
+from rai_sim.simulation_connector import PoseModel
 
 
 SimulationConnectorT = TypeVar("SimulationConnectorT", bound=SimulationConnector)