refactor: o3de config (#630)

Author: jmatejcz

docs/tutorials/benchmarking.md

@@ -16,32 +16,10 @@ If your goal is creating custom tasks and scenarios, visit [Creating Custom Task
 ## Manipulation O3DE
 
 -   Follow setup from [Manipulation demo Setup](../demos/manipulation.md#setup)
--   Create the O3DE config:
-    ```yaml
-    binary_path: /path/to/binary/RAIManipulationDemo.GameLauncher
-    level: RoboticManipulationBenchmark
-    robotic_stack_command: ros2 launch examples/manipulation-demo-no-binary.launch.py
-    required_simulation_ros2_interfaces:
-    services:
-        - /spawn_entity
-        - /delete_entity
-    topics:
-        - /color_image5
-        - /depth_image5
-        - /color_camera_info5
-    actions: []
-    required_robotic_ros2_interfaces:
-    services:
-        - /grounding_dino_classify
-        - /grounded_sam_segment
-        - /manipulator_move_to
-    topics: []
-    actions: []
-    ```
 -   Run the benchmark with:
 
     ```bash
-    python src/rai_bench/rai_bench/examples/manipulation_o3de.py --model-name <your-model> --vendor <your-vendor> --o3de-config-path <path/to/your/config> --levels <trivial, easy>
+    python src/rai_bench/rai_bench/examples/manipulation_o3de.py --model-name <your-model> --vendor <your-vendor> --levels <trivial, easy>
     ```
 
     !!! warning

src/rai_bench/rai_bench/manipulation_o3de/benchmark.py

@@ -137,7 +137,7 @@ def __init__(
         self.simulation_bridge.init_simulation(simulation_config=simulation_config)
         self.simulation_bridge.launch_robotic_stack(
             required_robotic_ros2_interfaces=simulation_config.required_robotic_ros2_interfaces,
-            launch_description=self.launch_description,
+            launch_description=self.launch_description(),
         )
         self.num_of_scenarios = len(scenarios)
         self.scenarios = enumerate(iter(scenarios))
@@ -146,7 +146,6 @@ def __init__(
         self.score_tracing_handler = ScoreTracingHandler()
         self.csv_initialize(self.results_filename, ScenarioResult)
 
-    @property
     def launch_description(self):
         launch_moveit = IncludeLaunchDescription(
             PythonLaunchDescriptionSource(

src/rai_bench/rai_bench/manipulation_o3de/predefined/configs/o3de_config.yaml

@@ -0,0 +1,18 @@
+binary_path: demo_assets/manipulation/RAIManipulationDemo/RAIManipulationDemo.GameLauncher
+level: RoboticManipulationBenchmark
+required_simulation_ros2_interfaces:
+  services:
+      - /spawn_entity
+      - /delete_entity
+  topics:
+      - /color_image5
+      - /depth_image5
+      - /color_camera_info5
+  actions: []
+required_robotic_ros2_interfaces:
+  services:
+      - /grounding_dino_classify
+      - /grounded_sam_segment
+      - /manipulator_move_to
+  topics: []
+  actions: []

src/rai_bench/rai_bench/utils.py

@@ -101,7 +101,7 @@ def parse_manipulation_o3de_benchmark_args():
     parser.add_argument(
         "--o3de-config-path",
         type=str,
-        required=True,
+        default="src/rai_bench/rai_bench/manipulation_o3de/predefined/configs/o3de_config.yaml",
         help="Path to the O3DE configuration file",
     )
     parser.add_argument(

tests/rai_sim/conftest.py

@@ -52,7 +52,6 @@ def sample_base_yaml_config(tmp_path: Path) -> Path:
 def sample_o3dexros2_config(tmp_path: Path) -> Path:
     yaml_content = """
     binary_path: /path/to/binary
-    robotic_stack_command: "ros2 launch robotic_stack.launch.py"
     required_simulation_ros2_interfaces:
       services:
         - /spawn_entity