perf: improve performance of O3DE Benchmark

[jmatejcz]

Purpose

• Improve performance of O3DE benchmark

Proposed Changes

reduce sleep times
move arm to more accessible position after every scenario

Issues

These changes reduce time of execution only slightly.
The most time consuming are LLM processing and tool calls

Testing

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

3. Download GameLauncher binary: humble or jazzy

4. 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: []

5. Run the benchmark

python src/rai_bench/rai_bench/examples/o3de_test_benchmark.py

6. What to look for:

• If simulation starts
• If arm is moved to the correct position after each scenario(top right corner of the table)

[maciejmajek]

LGTM