from klampt import se3,so3
from time import sleep
import json
apc_order = json.load(open(os.path.join(os.path.dirname(__file__), 'example.json')))
knowledge_base_dir = './kb/'
world = WorldModel()
model = world.loadRobot('klampt_models/baxter_with_reflex_gripper_col.rob')
print 'before'
robot = LowLevelController(model, 'baxter_with_reflex_gripper_col.rob')
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()
