Purpose

Changes to rai_bench package requested in #435

Proposed Changes

Style changes
Added package descriptions and fixed dependencies
Unnecessary code removed
Moved main.py to examples/ folder
Saving results to file now after every Scenario

Issues

Testing

Instructions for running a single benchmark:

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 all 4 Scenarios run
• If results are saved after every scenario to src/rai_bench/rai_bench/results.csv