Log metrics

scripts/run.py

@@ -1,13 +1,18 @@
 import argparse
+from pathlib import Path
 import rospy
+from tqdm import tqdm
 
-from active_grasp.controller import GraspController
+from active_grasp.controller import *
 from active_grasp.policy import make, registry
 
 
 def create_parser():
     parser = argparse.ArgumentParser()
-    parser.add_argument("--policy", type=str, choices=registry.keys())
+    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("--desc", type=str, default="")
     return parser
 
 
@@ -17,9 +22,11 @@ def main():
     args = parser.parse_args()
     policy = make(args.policy)
     controller = GraspController(policy)
+    logger = Logger(args.logdir, args.policy, args.desc)
 
-    while True:
-        controller.run()
+    for _ in tqdm(range(args.runs)):
+        info = controller.run()
+        logger.log_run(info)
 
 
 if __name__ == "__main__":