Merge branch 'develop'

README.md

@@ -1,8 +1,14 @@
 <p align=center><strong>~ Our <a href="https://evalai.cloudcv.org/web/challenges/challenge-page/807/overview">Robotic Vision Scene Understanding (RVSU) Challenge is live on EvalAI</a> ~<br>(prizes include $2,500USD provided by <a href="https://www.roboticvision.org/">ACRV</a> & GPUs provided by sponsors <a href="https://www.nvidia.com/en-us/research/robotics/">NVIDIA</a>)</strong></p>
+<p align=center><strong>~Access our Benchbot Environments for Active Robotics (BEAR) through our <a href="https://github.com/benchbot-addons/envs_isaac_challenge"> challenge </a> and <a href="https://github.com/benchbot-addons/envs_isaac_develop">development </a> environment addons (installed by default)~</strong></p>
 <p align=center><strong>~ Our <a href="https://github.com/qcr/benchbot/wiki/Tutorial:-Performing-Semantic-SLAM-with-Votenet">BenchBot tutorial</a> is the best place to get started developing with BenchBot ~</strong></p>
 
 # BenchBot Software Stack
 
+[![BenchBot project](https://img.shields.io/badge/collection-BenchBot-%231a2857)](http://benchbot.org)
+[![QUT Centre for Robotics Open Source](https://github.com/qcr/qcr.github.io/raw/master/misc/badge.svg)](https://qcr.github.io)
+![Primary language](https://img.shields.io/github/languages/top/qcr/benchbot)
+[![License](https://img.shields.io/github/license/qcr/benchbot)](./LICENSE.txt)
+
 ![benchbot_web](./docs/benchbot_web.gif)
 
 The BenchBot software stack is a collection of software packages that allow end users to control robots in real or simulated environments with a simple python API. It leverages the simple "observe, act, repeat" approach to robot problems prevalent in reinforcement learning communities ([OpenAI Gym](https://gym.openai.com/) users will find the BenchBot API interface very similar).

bin/benchbot_batch

@@ -207,7 +207,7 @@ _list_batches_pre=\
 run_pid=
 function kill_run() {
   if [ -n $run_pid ]; then
-    kill -TERM $run_pid &> /dev/null
+    kill -TERM $run_pid &> /dev/null || true
     wait $run_pid || true
     run_pid=
   fi
@@ -217,12 +217,12 @@ submit_pid=
 submit_cat_pid=
 function kill_submit() {
   if [ -n $submit_pid ]; then
-    kill -TERM $submit_pid &> /dev/null
+    kill -TERM $submit_pid &> /dev/null || true
     wait $submit_pid || true
     submit_pid=
   fi
   if [ -n $submit_cat_pid ]; then
-    kill -TERM $submit_cat_pid &> /dev/null
+    kill -TERM $submit_cat_pid &> /dev/null || true
     wait $submit_cat_pid || true
     submit_cat_pid=
   fi
@@ -396,7 +396,7 @@ while [ $i -lt ${#envs_list[@]} ]; do
   sleep 3
 
   # Run should never die normally, so treat this as an error
-  if ! $(ps -p $run_pid &>/dev/null); then
+  if [ 0 -ne $(ps -p $run_pid &>/dev/null; echo $?) ]; then
     echo ""
     kill_submit
     header_block "Crash detected for environment: ${envs_list[$i]}" \
@@ -408,17 +408,9 @@ while [ $i -lt ${#envs_list[@]} ]; do
     exit 1
   fi
 
-  # Handle the result of failed submissions (looking for an error code)
-  wait $submit_pid && submit_result=0 || submit_result=1
-  if [ $submit_result -ne 0 ]; then
-    echo ""
-    kill_run
-    printf "\n${colour_red}$submission_err${colour_nc}\n" "${envs_list[$i]}"
-    exit 1
-  fi
-
   # Skip moving on if we collided using 'move_next' actuation, otherwise move
   # to the next environment
+  retry=
   if [ -n "$(run_manager_cmd 'print(get_value_by_name("tasks", "'$task'", \
         "actions"))' | grep "'move_next'")" ] && \
       [ -n "$(docker run --rm --network $DOCKER_NETWORK -it \
@@ -427,7 +419,19 @@ while [ $i -lt ${#envs_list[@]} ]; do
         grep "true")" ]; then
     printf "\n${colour_yellow}$collision_warn${colour_nc}\n\n" \
       "${envs_list[$i]}"
-  else
+    retry=1
+  fi
+
+  # Handle the result of failed submissions (looking for an error code)
+  wait $submit_pid && submit_result=0 || submit_result=1
+  if [ $submit_result -ne 0 ] && [ -z $retry ]; then
+    echo ""
+    kill_run
+    printf "\n${colour_red}$submission_err${colour_nc}\n" "${envs_list[$i]}"
+    exit 1
+  fi
+
+  if [ -z $retry ]; then
     results_list+=("${prefix}_$i.json")
     i=$((i+1))
   fi

bin/benchbot_install

@@ -671,7 +671,7 @@ chk_addonsuptodate_fix=\
 'pushd '"$PATH_ADDONS"' && 
 git fetch --all && git checkout -- . &&
 (git checkout -t origin/$BRANCH_DEFAULT || git checkout $BRANCH_DEFAULT) && 
-git pull && popd'
+git pull && popd && pip3 uninstall -y benchbot_addons'
 chk_addonsuptodate_reboot=1
 
 chk_addonsinstalled_name='BenchBot Add-ons Manager installed'
@@ -690,7 +690,7 @@ chk_addonsinstalled_issue="\
   environment before running BenchBot."
 chk_addonsinstalled_fix=\
 'pushd '"$PATH_ADDONS"' &&  
-python3 -m pip install -e . && popd'
+python3 -m pip install --upgrade -e . && popd'
 chk_addonsinstalled_reboot=1
 
 chk_apicloned_name='BenchBot API cloned'
@@ -729,7 +729,7 @@ chk_apiuptodate_fix=\
 'pushd '"$PATH_API"' && 
 git fetch --all && git checkout -- . &&
 (git checkout -t origin/$BRANCH_DEFAULT || git checkout $BRANCH_DEFAULT) && 
-git pull && popd'
+git pull && popd && pip3 uninstall -y benchbot_api'
 chk_apiuptodate_reboot=1
 
 chk_apiinstalled_name='BenchBot API installed'
@@ -748,7 +748,7 @@ chk_apiinstalled_issue="\
   environment before running BenchBot."
 chk_apiinstalled_fix=\
 'pushd '"$PATH_API"' &&  
-python3 -m pip install -e . && popd'
+python3 -m pip install --upgrade -e . && popd'
 chk_apiinstalled_reboot=1
 
 chk_evalcloned_name='BenchBot evaluation cloned'
@@ -787,7 +787,7 @@ chk_evaluptodate_fix=\
 'pushd '"$PATH_EVAL"' && 
 git fetch --all && git checkout -- . &&
 (git checkout -t origin/$BRANCH_DEFAULT || git checkout $BRANCH_DEFAULT) && 
-git pull && popd'
+git pull && popd && python3 -m pip uninstall -y benchbot_eval'
 chk_evaluptodate_reboot=1
 
 chk_evalinstalled_name='BenchBot evaluation installed'
@@ -806,7 +806,7 @@ chk_evalinstalled_issue="\
   environment before running BenchBot."
 chk_evalinstalled_fix=\
 'pushd '"$PATH_EVAL"' && 
-python3 -m pip install -e . && popd'
+python3 -m pip install --upgrade -e . && popd'
 chk_evalinstalled_reboot=1
 
 chk_hostsavail_name='BenchBot hosts available'