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knicked wants to merge 8 commits into from
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Add task benchmarking utilities #7

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98930a6
Add simple task benchmarking
knicked Nov 25, 2024
bcd5d6f
Running the agent automatically on scenarios
knicked Jan 3, 2025
6748519
Add showcase to the setup script
knicked Jan 3, 2025
d31d1e0
Fix place_on_top scenario
knicked Jan 3, 2025
33cfeaf
Add ReplaceTypes scenario
knicked Jan 7, 2025
dee2cfe
Update level and prefabs
knicked Jan 7, 2025
f62b868
Add object position randomisation
knicked Jan 10, 2025
3ba1c4f
Add a new scenario
knicked Jan 10, 2025
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934 changes: 339 additions & 595 deletions Project/Levels/RoboticManipulation/RoboticManipulation.prefab
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63 changes: 11 additions & 52 deletions Project/Prefabs/apple.prefab
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10 changes: 5 additions & 5 deletions Project/Prefabs/black_cube.prefab
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10 changes: 5 additions & 5 deletions Project/Prefabs/blue_cube.prefab
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10 changes: 10 additions & 0 deletions Project/Prefabs/carrot.prefab
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28 changes: 19 additions & 9 deletions Project/Prefabs/corn.prefab
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28 changes: 19 additions & 9 deletions Project/Prefabs/tomato.prefab
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10 changes: 10 additions & 0 deletions Project/Prefabs/toy_box.prefab
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18 changes: 18 additions & 0 deletions ros2_ws/src/rai_mani/package.xml
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@@ -0,0 +1,18 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rai_mani</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="kacper.dabrowski@robotec.ai">kdabrowski</maintainer>
<license>TODO: License declaration</license>

<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>

<export>
<build_type>ament_python</build_type>
</export>
</package>
Empty file added ros2_ws/src/rai_mani/rai_mani/__init__.py
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25 changes: 25 additions & 0 deletions ros2_ws/src/rai_mani/rai_mani/benchmark.py
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import rclpy

from rai_mani.manager import RaiBenchmarkManager

from rai_mani.scenarios.move_to_the_left import MoveToTheLeft
from rai_mani.scenarios.place_on_top import PlaceOnTop
from rai_mani.scenarios.replace_types import ReplaceTypes
from rai_mani.scenarios.longest_object import LongestObject

from rclpy.executors import MultiThreadedExecutor

def main(args=None):
rclpy.init(args=args)

manager = RaiBenchmarkManager([PlaceOnTop, LongestObject, MoveToTheLeft, ReplaceTypes], list(range(4)))

executor = MultiThreadedExecutor(2)
executor.add_node(manager)
executor.spin()

manager.destroy_node()
rclpy.shutdown()

if __name__ == '__main__':
main()
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