55 lines
1.4 KiB
Python
55 lines
1.4 KiB
Python
import argparse
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from datetime import datetime
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import pandas as pd
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from pathlib import Path
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import rospy
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from tqdm import tqdm
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from active_grasp.controller import *
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from active_grasp.policy import make, registry
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from active_grasp.srv import Seed
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class Logger:
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def __init__(self, logdir, policy):
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stamp = datetime.now().strftime("%y%m%d-%H%M%S")
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name = "{}_policy={}".format(stamp, policy)
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self.path = logdir / (name + ".csv")
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def log_run(self, info):
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df = pd.DataFrame.from_records([info])
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df.to_csv(self.path, mode="a", header=not self.path.exists(), index=False)
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def create_parser():
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parser = argparse.ArgumentParser()
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parser.add_argument("policy", type=str, choices=registry.keys())
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parser.add_argument("--runs", type=int, default=10)
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parser.add_argument("--logdir", type=Path, default="logs")
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parser.add_argument("--seed", type=int, default=12)
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return parser
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def seed_simulation(seed):
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rospy.ServiceProxy("seed", Seed)(seed)
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rospy.sleep(1.0)
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def main():
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rospy.init_node("active_grasp")
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parser = create_parser()
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args = parser.parse_args()
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policy = make(args.policy)
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controller = GraspController(policy)
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logger = Logger(args.logdir, args.policy)
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seed_simulation(args.seed)
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for _ in tqdm(range(args.runs)):
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info = controller.run()
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logger.log_run(info)
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if __name__ == "__main__":
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main()
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