Basic Usage Tutorial

In the Quickstart section, we introduced how to use fake_port to test the simulated environment. This section explains how to evaluate your own models on GenManipBench using the eval_V3.py script.

You may begin by inspecting the file standalone_tools/fake_port.py, which outlines the communication logic. This script retrieves data from the Isaac Sim Bench and sends back a static (non-moving) action. For more details, refer to the Communication Protocol.

The script fake_port.py is fully standalone and has no external dependencies. You can easily integrate it into your own project and insert the inference logic of your model as needed. For example, you can modify the main loop as follows:

...
if __name__ == "__main__":
    send_socket = create_send_port_and_wait(port=args.send_port)
    time.sleep(1)
    receive_socket = create_receive_port_and_attach(port=args.receive_port)

    while True:
        data = wait_message(receive_socket)
        actions = {"action": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}
        processed_data = process_data(data)
        actions["action"] = model.inference(processed_data)
        send_message(send_socket, actions)