[DRAFT] o3de test benchmark #425
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Further work: #418 refactor(partial): refactor openset tools to rai2.0 ros2ariconnector api refactor: finalize with simplifications fix: missing argument, missing client workaround: don't remove subscription due to rclpy issue ros2/rclpy#1142 replace ros2 future waiting with more robust callback based mechanism remove waiting from launch fix order in connector shutdown ``` Exception in thread Thread-1 (spin): Traceback (most recent call last): File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner self.run() File "/usr/lib/python3.10/threading.py", line 953, in run self._target(*self._args, **self._kwargs) File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 294, in spin self.spin_once() File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 794, in spin_once self._spin_once_impl(timeout_sec) File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 786, in _spin_once_impl self._executor.submit(handler) File "/usr/lib/python3.10/concurrent/futures/thread.py", line 167, in submit raise RuntimeError('cannot schedule new futures after shutdown') RuntimeError: cannot schedule new futures after shutdown ``` refactor: cleanup manipulation launchfile chore: pre-commit feat: benchmark class models Co-authored-by: Jakub Matejczyk <[email protected]> chore: naming changes Co-authored-by: Jakub Matejczyk <[email protected]> chore: naming changes Co-authored-by: Jakub Matejczyk <[email protected]> chore: redefine benchmark model Co-authored-by: Jakub Matejczyk <[email protected]> Co-authored-by: Kacper Dąbrowski <[email protected]> refactor: SceneConfig to BaseModel class feat: add SceneSetup to store initial scene setup build: poetry initialization of rai_benchmarks and rai_simulations chore: add licence lines build: create packages from rai_benchmarks and rai_simulations chore: removed mistakenly added file feat: scene config implementation Add O3DEEngineConnector features Signed-off-by: Kacper Dąbrowski <[email protected]> Remove an unused file Signed-off-by: Kacper Dąbrowski <[email protected]> Add binary path caching Signed-off-by: Kacper Dąbrowski <[email protected]> Add two example scenes Signed-off-by: Kacper Dąbrowski <[email protected]> feat: replace binary path with ros2 launch command + binary path refactor: renamed rai_sim and rai_bench fix: fixed shutdown of binary chore: make pose mandatory chore: remove rai_bench because it is developed on another branch ci: add missing license lines laoding and spawning frm benchmark rabsed naming change grab xyz benchmark benchmarks run new sim every scenario for now adjust to new tools Remove psutil conflicting __del__ method from o3de connector See this issue: giampaolo/psutil#2437 stream langgraph agent extent output of tool runner enable all scenarios in the benchmark removed name providing for manipulator launch added move arm func to connectors rebased and adjusted to new code added metrics to tasks, created rai_bench package added comments
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Testing