Pass arguments directly to the policy

active_grasp/baselines.py

@@ -13,7 +13,7 @@ class SingleView(BasePolicy):
 
     def update(self, img, extrinsic):
         self.integrate_img(img, extrinsic)
-        self.best_grasp = self.predict_best_grasp()
+        self.best_grasp = self.compute_best_grasp()
         self.done = True
 
 
@@ -32,7 +32,7 @@ class TopView(BasePolicy):
         self.integrate_img(img, extrinsic)
         error = extrinsic.translation - self.target.translation
         if np.linalg.norm(error) < 0.01:
-            self.best_grasp = self.predict_best_grasp()
+            self.best_grasp = self.compute_best_grasp()
             self.done = True
         return self.target
 
@@ -58,7 +58,7 @@ class RandomView(BasePolicy):
         self.integrate_img(img, extrinsic)
         error = extrinsic.translation - self.target.translation
         if np.linalg.norm(error) < 0.01:
-            self.best_grasp = self.predict_best_grasp()
+            self.best_grasp = self.compute_best_grasp()
             self.done = True
         return self.target
 
@@ -83,7 +83,7 @@ class FixedTrajectory(BasePolicy):
         self.integrate_img(img, extrinsic)
         elapsed_time = (rospy.Time.now() - self.tic).to_sec()
         if elapsed_time > self.duration:
-            self.best_grasp = self.predict_best_grasp()
+            self.best_grasp = self.compute_best_grasp()
             self.done = True
         else:
             t = self.m(elapsed_time)
@@ -106,7 +106,7 @@ class AlignmentView(BasePolicy):
         self.integrate_img(img, extrinsic)
 
         if not self.target:
-            grasp = self.predict_best_grasp()
+            grasp = self.compute_best_grasp()
             if not grasp:
                 self.done = True
                 return
@@ -118,6 +118,6 @@ class AlignmentView(BasePolicy):
 
         error = extrinsic.translation - self.target.translation
         if np.linalg.norm(error) < 0.01:
-            self.best_grasp = self.predict_best_grasp()
+            self.best_grasp = self.compute_best_grasp()
             self.done = True
         return self.target

active_grasp/controller.py

@@ -3,10 +3,9 @@ import cv_bridge
 from geometry_msgs.msg import PoseStamped
 import numpy as np
 import rospy
-from sensor_msgs.msg import CameraInfo, Image
+from sensor_msgs.msg import Image
 
 from .bbox import from_bbox_msg
-from .policy import make
 from .timer import Timer
 from active_grasp.srv import Reset, ResetRequest
 from robot_helpers.ros import tf
@@ -16,19 +15,18 @@ from robot_helpers.spatial import Rotation, Transform
 
 
 class GraspController:
-    def __init__(self, policy_id):
+    def __init__(self, policy):
+        self.policy = policy
         self.reset_env = rospy.ServiceProxy("reset", Reset)
         self.load_parameters()
         self.lookup_transforms()
         self.init_robot_connection()
         self.init_camera_stream()
-        self.make_policy(policy_id)
 
     def load_parameters(self):
         self.base_frame = rospy.get_param("~base_frame_id")
         self.ee_frame = rospy.get_param("~ee_frame_id")
         self.cam_frame = rospy.get_param("~camera/frame_id")
-        self.info_topic = rospy.get_param("~camera/info_topic")
         self.depth_topic = rospy.get_param("~camera/depth_topic")
         self.T_grasp_ee = Transform.from_list(rospy.get_param("~ee_grasp_offset")).inv()
 
@@ -44,17 +42,12 @@ class GraspController:
         self.target_pose_pub.publish(msg)
 
     def init_camera_stream(self):
-        msg = rospy.wait_for_message(self.info_topic, CameraInfo, rospy.Duration(2.0))
-        self.intrinsic = from_camera_info_msg(msg)
         self.cv_bridge = cv_bridge.CvBridge()
         rospy.Subscriber(self.depth_topic, Image, self.sensor_cb, queue_size=1)
 
     def sensor_cb(self, msg):
         self.latest_depth_msg = msg
 
-    def make_policy(self, name):
-        self.policy = make(name, self.intrinsic)
-
     def run(self):
         bbox = self.reset()
         with Timer("search_time"):

active_grasp/policy.py

@@ -1,4 +1,5 @@
 import numpy as np
+from sensor_msgs.msg import CameraInfo
 from pathlib import Path
 import rospy
 
@@ -19,15 +20,17 @@ class Policy:
 
 
 class BasePolicy(Policy):
-    def __init__(self, intrinsic):
-        self.intrinsic = intrinsic
-        self.rate = 5
+    def __init__(self, rate=5):
+        self.rate = rate
         self.load_parameters()
         self.init_visualizer()
 
     def load_parameters(self):
         self.base_frame = rospy.get_param("active_grasp/base_frame_id")
         self.task_frame = "task"
+        info_topic = rospy.get_param("active_grasp/camera/info_topic")
+        msg = rospy.wait_for_message(info_topic, CameraInfo, rospy.Duration(2.0))
+        self.intrinsic = from_camera_info_msg(msg)
         self.vgn = VGN(Path(rospy.get_param("vgn/model")))
 
     def init_visualizer(self):
@@ -56,6 +59,9 @@ class BasePolicy(Policy):
         self.visualizer.scene_cloud(self.task_frame, self.tsdf.get_scene_cloud())
         self.visualizer.path(self.viewpoints)
 
+    def compute_best_grasp(self):
+        return self.predict_best_grasp()
+
     def predict_best_grasp(self):
         tsdf_grid = self.tsdf.get_grid()
         out = self.vgn.predict(tsdf_grid)

scripts/run.py

@@ -6,16 +6,19 @@ import rospy
 from tqdm import tqdm
 
 from active_grasp.controller import *
-from active_grasp.policy import registry
+from active_grasp.policy import make, registry
 from active_grasp.srv import Seed
 
 
 def main():
     rospy.init_node("active_grasp")
+
     parser = create_parser()
     args = parser.parse_args()
-    controller = GraspController(args.policy)
-    logger = Logger(args.logdir, args.policy)
+
+    policy = make(args.policy, args.rate)
+    controller = GraspController(policy)
+    logger = Logger(args)
 
     seed_simulation(args.seed)
 
@@ -29,15 +32,16 @@ def create_parser():
     parser.add_argument("policy", type=str, choices=registry.keys())
     parser.add_argument("--runs", type=int, default=10)
     parser.add_argument("--logdir", type=Path, default="logs")
+    parser.add_argument("--rate", type=int, default=5)
     parser.add_argument("--seed", type=int, default=12)
     return parser
 
 
 class Logger:
-    def __init__(self, logdir, policy):
+    def __init__(self, args):
         stamp = datetime.now().strftime("%y%m%d-%H%M%S")
-        name = "{}_policy={}".format(stamp, policy)
-        self.path = logdir / (name + ".csv")
+        descr = "policy={},rate={}".format(args.policy, args.rate)
+        self.path = args.logdir / (stamp + "_" + descr + ".csv")
 
     def log_run(self, info):
         df = pd.DataFrame.from_records([info])