feat: rai_bench (#436)

Co-authored-by: Maciej Majek <[email protected]>
Co-authored-by: Bartłomiej Boczek <[email protected]>
Co-authored-by: MagdalenaKotynia <[email protected]>

chore: pre-commit

.gitignore

@@ -172,3 +172,5 @@ logs/
 
 src/examples/*-demo
 artifact_database.pkl
+
+imgui.ini

examples/manipulation-demo.launch.py

@@ -12,22 +12,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import rclpy
-from launch import LaunchContext, LaunchDescription
+from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
     ExecuteProcess,
     IncludeLaunchDescription,
-    OpaqueFunction,
-    RegisterEventHandler,
 )
-from launch.event_handlers import OnExecutionComplete, OnProcessStart
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-from rclpy.qos import QoSProfile, ReliabilityPolicy
-from rosgraph_msgs.msg import Clock
 
 
 def generate_launch_description():
@@ -46,21 +40,6 @@ def generate_launch_description():
         output="screen",
     )
 
-    def wait_for_clock_message(context: LaunchContext, *args, **kwargs):
-        rclpy.init()
-        node = rclpy.create_node("wait_for_game_launcher")
-        node.create_subscription(
-            Clock,
-            "/clock",
-            lambda msg: rclpy.shutdown(),
-            QoSProfile(depth=1, reliability=ReliabilityPolicy.BEST_EFFORT),
-        )
-        rclpy.spin(node)
-        return None
-
-    # Game launcher will start publishing the clock message after loading the simulation
-    wait_for_game_launcher = OpaqueFunction(function=wait_for_clock_message)
-
     launch_moveit = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [
@@ -72,7 +51,7 @@ def wait_for_clock_message(context: LaunchContext, *args, **kwargs):
     launch_robotic_manipulation = Node(
         package="robotic_manipulation",
         executable="robotic_manipulation",
-        name="robotic_manipulation_node",
+        # name="robotic_manipulation_node",
         output="screen",
         parameters=[
             {"use_sim_time": True},
@@ -90,28 +69,10 @@ def wait_for_clock_message(context: LaunchContext, *args, **kwargs):
 
     return LaunchDescription(
         [
-            # Include the game_launcher argument
             game_launcher_arg,
-            # Launch the game launcher and wait for it to load
             launch_game_launcher,
-            RegisterEventHandler(
-                event_handler=OnProcessStart(
-                    target_action=launch_game_launcher,
-                    on_start=[
-                        wait_for_game_launcher,
-                    ],
-                )
-            ),
-            # Launch the MoveIt node after loading the simulation
-            RegisterEventHandler(
-                event_handler=OnExecutionComplete(
-                    target_action=wait_for_game_launcher,
-                    on_completion=[
-                        launch_openset,
-                        launch_moveit,
-                        launch_robotic_manipulation,
-                    ],
-                )
-            ),
+            launch_openset,
+            launch_moveit,
+            launch_robotic_manipulation,
         ]
     )

examples/manipulation-demo.py

@@ -12,37 +12,37 @@
 # See the License for the specific language goveself.rning permissions and
 # limitations under the License.
 
-import threading
 
 import rclpy
 import rclpy.qos
 from langchain_core.messages import HumanMessage
 from rai.agents.conversational_agent import create_conversational_agent
-from rai.node import RaiBaseNode
+from rai.communication.ros2.connectors import ROS2ARIConnector
 from rai.tools.ros.manipulation import GetObjectPositionsTool, MoveToPointTool
-from rai.tools.ros.native import GetCameraImage, Ros2GetTopicsNamesAndTypesTool
+from rai.tools.ros2.topics import GetROS2ImageTool, GetROS2TopicsNamesAndTypesTool
 from rai.utils.model_initialization import get_llm_model
+from rai_open_set_vision.tools import GetGrabbingPointTool
 
 
 def create_agent():
     rclpy.init()
-    node = RaiBaseNode(node_name="manipulation_demo")
+    connector = ROS2ARIConnector()
+    node = connector.node
     node.declare_parameter("conversion_ratio", 1.0)
 
-    threading.Thread(target=node.spin).start()
-
     tools = [
         GetObjectPositionsTool(
-            node=node,
+            connector=connector,
             target_frame="panda_link0",
             source_frame="RGBDCamera5",
             camera_topic="/color_image5",
             depth_topic="/depth_image5",
             camera_info_topic="/color_camera_info5",
+            get_grabbing_point_tool=GetGrabbingPointTool(connector=connector),
         ),
-        MoveToPointTool(node=node, manipulator_frame="panda_link0"),
-        GetCameraImage(node=node),
-        Ros2GetTopicsNamesAndTypesTool(node=node),
+        MoveToPointTool(connector=connector, manipulator_frame="panda_link0"),
+        GetROS2ImageTool(connector=connector),
+        GetROS2TopicsNamesAndTypesTool(connector=connector),
     ]
 
     llm = get_llm_model(model_type="complex_model", streaming=True)

pyproject.toml

@@ -18,6 +18,7 @@ rai = {path = "src/rai_core", develop = true}
 rai_asr = {path = "src/rai_asr", develop = true}
 rai_tts = {path = "src/rai_tts", develop = true}
 rai_sim = {path = "src/rai_sim", develop = true}
+rai_bench = {path = "src/rai_bench", develop = true}
 
 langchain-core = "^0.3"
 langchain = "*"
@@ -30,7 +31,6 @@ requests = "^2.32.2"
 pre-commit = "^3.7.0"
 openai = "^1.23.3"
 coloredlogs = "^15.0.1"
-opencv-python = "^4.9.0.80"
 markdown = "^3.6"
 boto3 = "^1.34.98"
 tqdm = "^4.66.4"
@@ -62,6 +62,7 @@ pytest-timeout = "^2.3.1"
 tomli-w = "^1.1.0"
 faster-whisper = "^1.1.1"
 pydub = "^0.25.1"
+opencv-python = "^4.11.0.86"
 [tool.poetry.group.dev.dependencies]
 ipykernel = "^6.29.4"
 

setup_shell.sh

@@ -30,3 +30,6 @@ 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"

src/rai_bench/README.md

@@ -0,0 +1,60 @@
+## RAI Benchmark
+
+## Description
+
+The RAI Bench is a package including benchmarks and providing frame for creating new benchmarks
+
+## Frame Components
+
+Frame components can be found in `src/rai_bench/rai_bench/benchmark_model.py`
+
+- `Task` - abstract class for creating specific task. It introduces helper funtions that make it easier to calculate metrics/scores. Your custom tasks must implement a prompt got agent to do, a way to calculate a result and a validation if given scene config suits the task.
+-
+- `Scenario` - class defined by a Scene and Task. Can be created manually like:
+
+  ```python
+
+  ```
+
+- `Benchmark` - class responsible for running and logging scenarios.
+
+### O3DE TEST BENCHMARK
+
+O3DE Test Benchmark (src/rai_bench/rai_bench/o3de_test_bench/), contains 2 Tasks(tasks/) - GrabCarrotTask and PlaceCubesTask (these tasks implement calculating scores) and 4 scene_configs(configs/) for O3DE robotic arm simulation.
+
+Both tasks calculate score, taking into consideration 4 values:
+
+- initially_misplaced_now_correct - when the object which was in the incorrect place at the start, is in a correct place at the end
+- initially_misplaced_still_incorrect - when the object which was in the incorrect place at the start, is in a incorrect place at the end
+- initially_correct_still_correct - when the object which was in the correct place at the start, is in a correct place at the end
+- initially_correct_now_incorrect - when the object which was in the correct place at the start, is in a incorrect place at the end
+
+The result is a value between 0 and 1, calculated like (initially_misplaced_now_correct + initially_correct_still_correct) / number_of_initial_objects.
+This score is calculated at the beggining and at the end of each scenario.
+
+### Example usage
+
+Example of how to load scenes, define scenarios and run benchmark can be found in `src/rai_bench/rai_bench/benchmark_main.py`
+
+Scenarios can be loaded manually like:
+
+```python
+one_carrot_simulation_config = O3DExROS2SimulationConfig.load_config(
+        base_config_path=Path("path_to_scene.yaml"),
+        connector_config_path=Path("path_to_o3de_config.yaml"),
+    )
+
+Scenario(task=GrabCarrotTask(logger=some_logger), simulation_config=one_carrot_simulation_config)
+```
+
+or automatically like:
+
+```python
+scenarios = Benchmark.create_scenarios(
+        tasks=tasks, simulation_configs=simulations_configs
+    )
+```
+
+which will result in list of scenarios with combination of every possible task and scene(task decides if scene config is suitable for it).
+
+Both approaches can be found in `main.py`

src/rai_bench/pyproject.toml

@@ -0,0 +1,17 @@
+[tool.poetry]
+name = "rai-bench"
+version = "0.1.0"
+description = ""
+authors = ["jmatejcz <[email protected]>"]
+readme = "README.md"
+
+packages = [
+    { include = "rai_bench", from = "." },
+]
+[tool.poetry.dependencies]
+python = "^3.10"
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"