Cleanup

sim_grasp.py

@@ -0,0 +1,49 @@
+import argparse
+import rospy
+import std_srvs.srv as std_srvs
+
+
+from controller import GraspController
+from policies import get_policy
+
+
+class SimGraspController(GraspController):
+    def __init__(self, policy):
+        super().__init__(policy)
+        self.reset_sim = rospy.ServiceProxy("/reset", std_srvs.Trigger)
+
+    def reset(self):
+        req = std_srvs.TriggerRequest()
+        self.reset_sim(req)
+        rospy.sleep(1.0)  # wait for states to be updated
+
+
+def create_parser():
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--policy",
+        type=str,
+        choices=[
+            "single-view",
+            "top",
+            "alignment",
+            "random",
+            "fixed-trajectory",
+        ],
+    )
+    return parser
+
+
+def main():
+    rospy.init_node("active_grasp")
+    parser = create_parser()
+    args = parser.parse_args()
+    policy = get_policy(args.policy)
+    controller = SimGraspController(policy)
+
+    while True:
+        controller.run()
+
+
+if __name__ == "__main__":
+    main()