From cd1f8db5ff6b5cf6c7191401cbfa264ff81cfe58 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Mon, 13 Jul 2026 16:43:31 +0200 Subject: [PATCH 1/2] Remove humanworker from scene when testing MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- .../Scripts/SelfDestructService.scriptcanvas | 1374 +++++++++++++++++ rai_app/environment/scene_manager.py | 9 + sim/Levels/DemoLevel/DemoLevel.prefab | 84 +- tests/conftest.py | 4 +- tests/test_housekeep.py | 1 + 5 files changed, 1470 insertions(+), 2 deletions(-) create mode 100755 project_gems/LevelGem/Assets/Scripts/SelfDestructService.scriptcanvas diff --git a/project_gems/LevelGem/Assets/Scripts/SelfDestructService.scriptcanvas b/project_gems/LevelGem/Assets/Scripts/SelfDestructService.scriptcanvas new file mode 100755 index 0000000..39c8ea4 --- /dev/null +++ b/project_gems/LevelGem/Assets/Scripts/SelfDestructService.scriptcanvas @@ -0,0 +1,1374 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a/rai_app/environment/scene_manager.py b/rai_app/environment/scene_manager.py index b5fbad6..619f9f3 100644 --- a/rai_app/environment/scene_manager.py +++ b/rai_app/environment/scene_manager.py @@ -31,6 +31,7 @@ ROS2Message, wait_for_ros2_services, ) +from rclpy.qos import qos_profile_best_available from rosidl_runtime_py.convert import message_to_ordereddict from simulation_interfaces.msg import EntityState, Result from simulation_interfaces.msg import SpawnEntity as SpawnEntityMsg @@ -391,6 +392,14 @@ def reset_simulation(self): timeout_sec=10.0, ) + def remove_humanworker(self): + self.connector.send_message( + ROS2Message(payload={"data": 0}), + target="/remove_humanworker", + msg_type="std_msgs/msg/Int32", + qos_profile=qos_profile_best_available, + ) + def move_entity( self, entity_name, diff --git a/sim/Levels/DemoLevel/DemoLevel.prefab b/sim/Levels/DemoLevel/DemoLevel.prefab index ac6c887..454f246 100755 --- a/sim/Levels/DemoLevel/DemoLevel.prefab +++ b/sim/Levels/DemoLevel/DemoLevel.prefab @@ -220,6 +220,88 @@ "op": "replace", "path": "/ContainerEntity/Components/TransformComponent/Parent Entity", "value": "../Entity_[1146574390643]" + }, + { + "op": "add", + "path": "/Entities/Entity_[211640413054656]/Components/EditorScriptCanvasComponent", + "value": { + "$type": "EditorScriptCanvasComponent", + "Id": 10872500690270102334, + "configuration": { + "sourceHandle": { + "id": "{C75ADE47-8B42-5008-9E83-7B097578841C}", + "path": "Assets/Scripts/SelfDestructService.scriptcanvas" + }, + "sourceName": "SelfDestructService.scriptcanvas", + "propertyOverrides": { + "source": { + "id": "{C75ADE47-8B42-5008-9E83-7B097578841C}", + "path": "Assets/Scripts/SelfDestructService.scriptcanvas" + }, + "variables": [ + { + "Datum": { + "isOverloadedStorage": false, + "scriptCanvasType": { + "m_type": 5, + "m_azType": "{00000000-0000-0000-0000-000000000000}" + }, + "isNullPointer": false, + "$type": "AZStd::string", + "value": "/self_destruct", + "label": "" + }, + "InputControlVisibility": { + "Value": 2755429085 + }, + "ExposureCategory": "", + "SortPriority": -1, + "ReplicaNetProps": { + "m_isSynchronized": false + }, + "VariableId": { + "m_id": "{66D06E5B-02F6-4828-91D0-3AE55145C1C2}" + }, + "VariableName": "Topic name", + "Scope": 0, + "InitialValueSource": 1 + } + ], + "entityId": [], + "overrides": [ + { + "Datum": { + "isOverloadedStorage": false, + "scriptCanvasType": { + "m_type": 5, + "m_azType": "{00000000-0000-0000-0000-000000000000}" + }, + "isNullPointer": false, + "$type": "AZStd::string", + "value": "/remove_humanworker", + "label": "" + }, + "InputControlVisibility": { + "Value": 850104567 + }, + "ExposureCategory": "", + "SortPriority": -1, + "ReplicaNetProps": { + "m_isSynchronized": false + }, + "VariableId": { + "m_id": "{66D06E5B-02F6-4828-91D0-3AE55145C1C2}" + }, + "VariableName": "Topic name", + "Scope": 0, + "InitialValueSource": 1 + } + ], + "overridesUnused": [], + "dependencies": [] + } + } + } } ] }, @@ -432,7 +514,7 @@ "Transform Data": { "Translate": [ -0.6043558120727539, - -0.09543037414550781, + -0.0954303741455078, 0.5401168465614319 ], "Rotate": [ diff --git a/tests/conftest.py b/tests/conftest.py index 455886d..adf3240 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -37,11 +37,13 @@ def connector(): @pytest.fixture(scope="session") def scene_manager(connector: ROS2Connector): - return SceneManager( + manager = SceneManager( slots_file="scripts/resources/slots.csv", spawnables_file="scripts/resources/spawnables.csv", connector=connector, ) + manager.remove_humanworker() + return manager @pytest.fixture(scope="session") diff --git a/tests/test_housekeep.py b/tests/test_housekeep.py index 016addf..0ddb56a 100644 --- a/tests/test_housekeep.py +++ b/tests/test_housekeep.py @@ -80,4 +80,5 @@ def test_single_box_housekeeping( assert "successfully" in result, f"HouseKeepTool failed: {result}" except Exception as e: scene_manager.reset_simulation() + scene_manager.remove_humanworker() pytest.fail(f"HouseKeepTool failed: {e}") From 9f86496da53e9831762ace41dbc7d048b2b0a941 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20D=C4=85browski?= Date: Tue, 14 Jul 2026 16:26:06 +0200 Subject: [PATCH 2/2] Ensure topic exists before despawning humanworker MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Kacper Dąbrowski --- rai_app/environment/scene_manager.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/rai_app/environment/scene_manager.py b/rai_app/environment/scene_manager.py index 619f9f3..b35aa9a 100644 --- a/rai_app/environment/scene_manager.py +++ b/rai_app/environment/scene_manager.py @@ -17,6 +17,7 @@ import copy import math import random +import time import uuid from enum import Enum from operator import attrgetter @@ -31,7 +32,6 @@ ROS2Message, wait_for_ros2_services, ) -from rclpy.qos import qos_profile_best_available from rosidl_runtime_py.convert import message_to_ordereddict from simulation_interfaces.msg import EntityState, Result from simulation_interfaces.msg import SpawnEntity as SpawnEntityMsg @@ -391,13 +391,19 @@ def reset_simulation(self): msg_type="simulation_interfaces/srv/ResetSimulation", timeout_sec=10.0, ) + time.sleep(3.0) def remove_humanworker(self): + while True: # wait for the topic to appear so the message will be recieved. + time.sleep(1.0) + topics = [tup[0] for tup in self.connector.get_topics_names_and_types()] + if "/remove_humanworker" in topics: + break + self.connector.send_message( ROS2Message(payload={"data": 0}), target="/remove_humanworker", msg_type="std_msgs/msg/Int32", - qos_profile=qos_profile_best_available, ) def move_entity(