Define task frame based on bbox

scripts/run.py

@@ -6,10 +6,33 @@ import rospy
 from tqdm import tqdm
 
 from active_grasp.controller import *
-from active_grasp.policy import make, registry
+from active_grasp.policy import 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)
+
+    seed_simulation(args.seed)
+
+    for _ in tqdm(range(args.runs)):
+        info = controller.run()
+        logger.log_run(info)
+
+
+def create_parser():
+    parser = argparse.ArgumentParser()
+    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("--seed", type=int, default=12)
+    return parser
+
+
 class Logger:
     def __init__(self, logdir, policy):
         stamp = datetime.now().strftime("%y%m%d-%H%M%S")
@@ -21,34 +44,10 @@ class Logger:
         df.to_csv(self.path, mode="a", header=not self.path.exists(), index=False)
 
 
-def create_parser():
-    parser = argparse.ArgumentParser()
-    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("--seed", type=int, default=12)
-    return parser
-
-
 def seed_simulation(seed):
     rospy.ServiceProxy("seed", Seed)(seed)
     rospy.sleep(1.0)
 
 
-def main():
-    rospy.init_node("active_grasp")
-    parser = create_parser()
-    args = parser.parse_args()
-    policy = make(args.policy)
-    controller = GraspController(policy)
-    logger = Logger(args.logdir, args.policy)
-
-    seed_simulation(args.seed)
-
-    for _ in tqdm(range(args.runs)):
-        info = controller.run()
-        logger.log_run(info)
-
-
 if __name__ == "__main__":
     main()