Add notebook to compute mean metrics

launch/active_grasp.launch

@@ -2,7 +2,7 @@
 <launch>
   <arg name="launch_rviz" default="true" />
 
-  <rosparam command="load" file="$(find active_grasp)/config/active_grasp.yaml" subst_value="true" />
+  <rosparam command="load" file="$(find active_grasp)launch/active_grasp.yaml" subst_value="true" />
 
   <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/panda_arm_hand.urdf.xacro" />
   <node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />

notebooks/print_metrics.py

@@ -0,0 +1,25 @@
+#%%
+import pandas as pd
+
+#%%
+logfile = "../logs/210712-132211_policy=top.csv"
+df = pd.read_csv(logfile)
+
+#%%
+metrics = [
+    ("Runs", len(df.index)),
+    ("", ""),
+    ("Succeeded", (df.result == "succeeded").sum()),
+    ("Failed", (df.result == "failed").sum()),
+    ("Aborted", (df.result == "aborted").sum()),
+    ("", ""),
+    ("Success rate", round((df.result == "succeeded").mean(), 2)),
+    ("Mean time", round(df.exploration_time.mean(), 2)),
+    ("Mean distance", round(df.distance_travelled.mean(), 2)),
+    ("Mean viewpoints", round(df.viewpoint_count.mean())),
+]
+
+for k, v in metrics:
+    print("{:<16} {:>8}".format(k, v))
+
+# %%