Add top baseline

scripts/run.py

@@ -2,22 +2,12 @@ import argparse
 import rospy
 
 from active_grasp.controller import GraspController
-from active_grasp.policies import get_policy
+from active_grasp.policy import make, registry
 
 
 def create_parser():
     parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "--policy",
-        type=str,
-        choices=[
-            "single-view",
-            "top",
-            "alignment",
-            "random",
-            "fixed-trajectory",
-        ],
-    )
+    parser.add_argument("--policy", type=str, choices=registry.keys())
     return parser
 
 
@@ -25,7 +15,7 @@ def main():
     rospy.init_node("active_grasp")
     parser = create_parser()
     args = parser.parse_args()
-    policy = get_policy(args.policy)
+    policy = make(args.policy)
     controller = GraspController(policy)
 
     while True: