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Wait for user input between runs

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This commit is contained in:
Michel Breyer 2021-12-06 09:46:46 +01:00
parent ea5dc1a6b3
commit 90ef7e98d2
2 changed files with 8 additions and 2 deletions
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9
scripts/run.py
View File

@ -28,6 +28,12 @@ def main():
rospy.sleep(1.0) # Prevents a rare race condiion rospy.sleep(1.0) # Prevents a rare race condiion
for _ in tqdm(range(args.runs)): for _ in tqdm(range(args.runs)):
if args.wait_for_input:
controller.gripper.move(0.08)
controller.switch_to_joint_trajectory_control()
controller.moveit.goto("ready")
input("Press Enter to continue...")
rospy.loginfo("Running policy ...")
info = controller.run() info = controller.run()
logger.log_run(info) logger.log_run(info)
@ -35,7 +41,8 @@ def main():
def create_parser(): def create_parser():
parser = argparse.ArgumentParser() 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=1) parser.add_argument("--runs", type=int, default=10)
parser.add_argument("--wait-for-input", action="store_true")
parser.add_argument("--logdir", type=Path, default="logs") parser.add_argument("--logdir", type=Path, default="logs")
parser.add_argument("--seed", type=int, default=1) parser.add_argument("--seed", type=int, default=1)
return parser return parser

1
src/active_grasp/controller.py
View File

@ -87,7 +87,6 @@ class GraspController:
res = self.execute_grasp(grasp) res = self.execute_grasp(grasp)
else: else:
res = "aborted" res = "aborted"
self.gripper.move(0.04)
return self.collect_info(res) return self.collect_info(res)
def reset(self): def reset(self):