print 'here'
kb = KnowledgeBase()
kb.robot_state = RobotState(robot)
print kb.robot_state
kb.active_limb = 'left'
kb.bin_contents = apc_order['bin_contents']
# make fake bin vantage points, need to update to real vantage points at some point
for k in [ 'bin_vantage_points', 'vantage_point_xforms' ]:
path = os.path.join(knowledge_base_dir, '{}.json'.format(k))
data = json.load(open(path))
setattr(kb, k, data)
r = PerceptionInterface(kb)
c = ControlInterface(robot, kb)
p = PlanningInterface(kb)
kb.shelf_xform = r.localizeShelf()
plan = p.planMoveToInitialPose()
c.execute(plan[0], sleep)
kb.robot_state = RobotState(robot)
sleep(5)
plan = p.planMoveToVantagePoint('bin_A', 'bin_A_center')
c.execute(plan[0], sleep)
kb.robot_state = RobotState(robot)
sleep(5)
kb.object_xforms['crayola_64_ct'] = (so3.rotation([0,0,1], 3.1415/4+3.1415), (1.0, 0.15, 0.70))
sleep(1)
print kb.robot_state.sensed_config
for plan in ["test plan", "test plan 2"]:
task = cs.execute(plan)
if not task:
print "restarting ControlServer"
cs.start()
continue
while not task.done:
print "waiting..."
sleep(1)
if not task.error:
print "success:", task.result
print kb.robot_state.sensed_config
else:
print "failure:", task.error
cs.close()
else:
model = WorldModel().loadRobot("klampt_models/baxter_with_parallel_gripper_col.rob")
robot = LowLevelController(model)
kb.robot_state = RobotState(robot)
c = ControlInterface(robot, kb)
c.execute("test plan", sleep)