32 lines
638 B
Python
32 lines
638 B
Python
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import argparse
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from geometry_msgs.msg import Pose
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import numpy as np
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import rospy
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from std_srvs.srv import Trigger
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from policies import get_policy
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def main(args):
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rospy.init_node("panda_grasp")
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policy = get_policy(args.policy)
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r = rospy.Rate(args.rate)
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done = False
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policy.start()
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while not done:
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done = policy.update()
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r.sleep()
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# TODO execute grasp
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("--policy", type=str, choices=["fixed"])
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parser.add_argument("--rate", type=int, default=10)
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args = parser.parse_args()
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main(args)
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