perf: improve performance of O3DE Benchmark (#442)

RobotecAI · Feb 28, 2025 · e7527b5 · e7527b5
1 parent 70e824f
commit e7527b5
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/rai_bench/rai_bench/examples/o3de_test_benchmark.py b/src/rai_bench/rai_bench/examples/o3de_test_benchmark.py
@@ -159,7 +159,7 @@
 
     # custom request to arm
     base_arm_pose = Pose(
-        translation=Translation(x=0.5, y=0.1, z=0.3),
+        translation=Translation(x=0.1, y=0.5, z=0.4),
         rotation=Rotation(x=1.0, y=0.0, z=0.0, w=0.0),
     )
 
@@ -183,7 +183,7 @@
             final_gripper_state=False,
             frame_id="panda_link0",
         )  # return to case position
-        time.sleep(2)  # admire the end position for a second ;)
+        time.sleep(0.2)  # admire the end position for a second ;)
 
     bench_logger.info("===============================================================")
     bench_logger.info("ALL SCENARIOS DONE. BENCHMARK COMPLETED!")

diff --git a/src/rai_sim/rai_sim/o3de/o3de_bridge.py b/src/rai_sim/rai_sim/o3de/o3de_bridge.py
@@ -201,7 +201,7 @@ def get_scene_state(self) -> SceneState:
         return SceneState(entities=entities)
 
     def _is_ros2_stack_ready(
-        self, required_ros2_stack: dict[str, List[str]], retries: int = 30
+        self, required_ros2_stack: dict[str, List[str]], retries: int = 120
     ) -> bool:
         for i in range(retries):
             available_topics = self.connector.get_topics_names_and_types()
@@ -259,7 +259,7 @@ def _is_ros2_stack_ready(
                 self.logger.info("All required ROS2 stack components are available.")
                 return True
 
-            time.sleep(3)
+            time.sleep(0.5)
 
         self.logger.error(
             "Maximum number of retries reached. Required ROS2 stack components are not fully available."
@@ -408,7 +408,7 @@ def move_arm(
         request.target_pose.header.frame_id = frame_id
 
         request.target_pose.pose.position.x = pose.translation.x
-        request.target_pose.pose.position.x = pose.translation.y
+        request.target_pose.pose.position.y = pose.translation.y
         request.target_pose.pose.position.z = pose.translation.z
 
         if pose.rotation: