merge #58

Author: voshch

_meta/features/evaluation/main

@@ -19,7 +19,7 @@ uninstall(){
 
 # === MAIN SCRIPT ===
 help(){
-    echo "Usage: $name <install|update|uninstall|source|launch|list|status|tail>"
+    echo "Usage: $name <install|update|uninstall|source|launch|list|status|tail|extract|run|process|report|plot>"
     echo ""
     echo "arena_evaluation for recording, metrics, and benchmarking."
     echo "This enables:"
@@ -31,6 +31,11 @@ help(){
     echo "  list      -- list available evaluations"
     echo "  status    -- show status of a running or completed evaluation"
     echo "  tail      -- stream live output of a running evaluation"
+    echo "  extract   -- extract MCAP topics into the Parquet cache"
+    echo "  run       -- process recording and generate HTML report"
+    echo "  process   -- process recording to generate metrics.parquet"
+    echo "  report    -- generate HTML report from processed metrics"
+    echo "  plot      -- generate static PNG plots from processed metrics"
 }
 if [ $# -lt 1 ]; then
     help
@@ -77,6 +82,11 @@ case "$1" in
         ros2 run arena_evaluation evaluation_cli tail "$@"
         exit $?
     ;;
+    extract|run|process|report|plot)
+        _feature_registry require "$name" || exit 1
+        ros2 run arena_evaluation evaluation "$@"
+        exit $?
+    ;;
     *)
         help
         exit 1

arena_bringup/launch/arena_runtime.launch.py

@@ -39,6 +39,16 @@ def generate_launch_description():
         default_value='False',
     )
 
+    record_data_dir = LaunchArgument(
+        name='record_data_dir',
+        default_value='',
+    )
+
+    disable_auto_recorder = LaunchArgument(
+        name='disable_auto_recorder',
+        default_value='false',
+    )
+
     launch_sim = launch.actions.IncludeLaunchDescription(
         PathJoinSubstitution([
             FindPackageShare('arena_bringup'),

arena_evaluation

@@ -113,7 +113,11 @@ def main(argv: list[str] | None = None) -> None:
     parser.add_argument("params", nargs="*", metavar="key=value", help="verb or shot parameters")
     parser.add_argument("--sim", action="store_true", help="drive the sim GUI camera")
     parser.add_argument(
-        "--viz", nargs="?", const=_VIZ_ALL, default=None, metavar="ENV_ID",
+        "--viz",
+        nargs="?",
+        const=_VIZ_ALL,
+        default=None,
+        metavar="ENV_ID",
         help="drive rviz cameras: bare for all, or an env id for one",
     )
     parser.add_argument("-f", "--force", action="store_true", help="overwrite a non-empty record dir")

arena_runtime/arena_runtime/arena_runtime/cam/cli.py

@@ -86,7 +86,7 @@ def _env_id_from_ns(ns: str) -> int | None:
     for part in ns.strip("/").split("/"):
         if part.startswith("env_"):
             try:
-                return int(part[len("env_"):])
+                return int(part[len("env_") :])
             except ValueError:
                 return None
     return None
@@ -106,12 +106,8 @@ def __init__(self, node: CamNode, ns: str, offset: tuple[float, float]) -> None:
         self.ns = ns
         self._ox, self._oy = offset
         self.set_view = node.create_client_wrapper(ViewportSetView, f"{ns}/viewport/set_view", timeout=10.0)
-        self.set_reference = node.create_client_wrapper(
-            ViewportSetReferenceFrame, f"{ns}/viewport/set_reference_frame", timeout=10.0
-        )
-        self.set_projection = node.create_client_wrapper(
-            ViewportSetProjection, f"{ns}/viewport/set_projection", timeout=10.0
-        )
+        self.set_reference = node.create_client_wrapper(ViewportSetReferenceFrame, f"{ns}/viewport/set_reference_frame", timeout=10.0)
+        self.set_projection = node.create_client_wrapper(ViewportSetProjection, f"{ns}/viewport/set_projection", timeout=10.0)
         # Generous timeout: a capture round-trips a full rendered frame.
         self.capture = node.create_client_wrapper(ViewportCapture, f"{ns}/viewport/capture", timeout=30.0)
         self.cmd_view = node.create_publisher(ViewportView, f"{ns}/viewport/cmd_view", _STREAM_QOS)
@@ -164,9 +160,7 @@ async def setup(self) -> None:
             rclpy.try_shutdown()
             return
         if self._recorder is not None and len(found) != 1:
-            self.get_logger().error(
-                f"record needs exactly one target, found {len(found)}, narrow with --sim or --viz <env_id>"
-            )
+            self.get_logger().error(f"record needs exactly one target, found {len(found)}, narrow with --sim or --viz <env_id>")
             rclpy.try_shutdown()
             return
 
@@ -325,9 +319,7 @@ async def drive(self, duration: float, world_orientation: bool, frame_at: Frame)
                 break
             await asyncio.sleep(period)
 
-    async def capture(
-        self, endpoint: _Endpoint, position: Vec3, quat: Quat, world_orientation: bool, fov: float
-    ) -> object | None:
+    async def capture(self, endpoint: _Endpoint, position: Vec3, quat: Quat, world_orientation: bool, fov: float) -> object | None:
         req = ViewportCapture.Request()
         req.pose = _ros_pose(self._local(endpoint, position), quat)
         req.world_orientation = bool(world_orientation)
@@ -338,9 +330,7 @@ async def capture(
             self.get_logger().warning(f"capture call failed: {e}")
             return None
 
-    async def _record_frame(
-        self, endpoint: _Endpoint, position: Vec3, quat: Quat, world_orientation: bool, fov: float
-    ) -> bool:
+    async def _record_frame(self, endpoint: _Endpoint, position: Vec3, quat: Quat, world_orientation: bool, fov: float) -> bool:
         res = await self.capture(endpoint, position, quat, world_orientation, fov)
         if res is None or not res.success:
             detail = "service timed out" if res is None else res.message

arena_runtime/arena_runtime/arena_runtime/cam/client.py

@@ -127,12 +127,7 @@ def catmull_rom(points: list[Vec3], t: float) -> Vec3:
     f3 = f2 * f
 
     def comp(a: float, b: float, c: float, d: float) -> float:
-        return 0.5 * (
-            (2 * b)
-            + (-a + c) * f
-            + (2 * a - 5 * b + 4 * c - d) * f2
-            + (-a + 3 * b - 3 * c + d) * f3
-        )
+        return 0.5 * ((2 * b) + (-a + c) * f + (2 * a - 5 * b + 4 * c - d) * f2 + (-a + 3 * b - 3 * c + d) * f3)
 
     return (
         comp(p0[0], p1[0], p2[0], p3[0]),

arena_runtime/arena_runtime/arena_runtime/cam/curves.py

@@ -34,6 +34,6 @@ def load_shot(path: str | Path, targets: TargetSelection) -> Camera:
     args = spec.get("params", {})
     cam = Camera(targets)
     for step in desugar(spec):
-        (name, raw), = step.items()
+        ((name, raw),) = step.items()
         cam.add(name, substitute(raw, args))
     return cam

arena_runtime/arena_runtime/arena_runtime/cam/shot.py

@@ -154,6 +154,6 @@ def expand_spec(spec: dict, params: object, stack: tuple[str, ...]) -> list[_Act
     args = {**spec.get("params", {}), **(params or {})}
     actions: list[_Action] = []
     for step in desugar(spec):
-        (name, raw), = step.items()
+        ((name, raw),) = step.items()
         actions.extend(resolve(name, substitute(raw, args), stack))
     return actions

arena_runtime/arena_runtime/arena_runtime/cam/shots.py

@@ -418,11 +418,7 @@ async def build_prim(obstacle: Obstacle) -> Prim | None:
             return prim
 
         level = obstacles_optim_level(self.node)
-        boxes = (
-            await asyncio.gather(*(resolve_obstacle_box(o) for o in obstacles))
-            if level is ObstaclesOptim.BBOX
-            else [None] * len(obstacles)
-        )
+        boxes = await asyncio.gather(*(resolve_obstacle_box(o) for o in obstacles)) if level is ObstaclesOptim.BBOX else [None] * len(obstacles)
         box_indices = [i for i, box in enumerate(boxes) if box is not None]
         mesh_indices = [i for i, box in enumerate(boxes) if box is None]
 

arena_runtime/arena_runtime/arena_runtime/sim/isaac_simulator.py

@@ -24,8 +24,6 @@ def generate_launch_description():
     robot = LaunchArgument("robot")
     frame = LaunchArgument("frame")
 
-    record_data_dir = LaunchArgument('record_data_dir', default_value='')
-
     # launch robot control
     state_pub_launch = launch.actions.IncludeLaunchDescription(
         launch.launch_description_sources.PythonLaunchDescriptionSource(
@@ -44,22 +42,11 @@ def generate_launch_description():
         }.items(),
     )
 
-    data_recorder = launch_ros.actions.Node(
-        package='arena_evaluation',
-        executable='record',
-        name=PythonExpression(['"data_recorder" + "', namespace.substitution, '".replace("/","_")']),
-        arguments=[
-            ['--dir', ' ', record_data_dir.substitution],
-        ],
-        condition=launch.conditions.IfCondition(PythonExpression(['bool("', record_data_dir.substitution, '")'])),
-    )
-
     ld = launch.LaunchDescription([
         *ld_items,
         PushRosNamespace(namespace=namespace.substitution),
         # robot_localization_node,
         # state_pub_launch,
-        data_recorder,
     ])
     return ld