37 lines
700 B
Python
37 lines
700 B
Python
import argparse
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import rospy
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from active_grasp.controller import GraspController
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from active_grasp.policies import get_policy
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def create_parser():
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parser = argparse.ArgumentParser()
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parser.add_argument(
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"--policy",
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type=str,
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choices=[
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"single-view",
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"top",
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"alignment",
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"random",
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"fixed-trajectory",
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],
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)
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return parser
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def main():
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rospy.init_node("active_grasp")
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parser = create_parser()
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args = parser.parse_args()
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policy = get_policy(args.policy)
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controller = GraspController(policy)
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while True:
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controller.run()
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if __name__ == "__main__":
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main()
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