Pass arguments directly to the policy

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])