WIP

src/active_grasp/__init__.py

@@ -5,4 +5,5 @@ from .nbv import NextBestView
 register("initial-view", InitialView)
 register("top-view", TopView)
 register("top-trajectory", TopTrajectory)
+register("fixed-trajectory", FixedTrajectory)
 register("nbv-grasp", NextBestView)

src/active_grasp/baselines.py

@@ -27,3 +27,11 @@ class TopTrajectory(MultiViewPolicy):
         linear, _ = compute_error(self.x_d, x)
         if np.linalg.norm(linear) < 0.02:
             self.done = True
+
+
+class FixedTrajectory(MultiViewPolicy):
+    def activate(self, bbox, view_sphere):
+        pass
+
+    def update(self, img, x, q):
+        pass