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))
plan = p.planGraspObjectInBin('bin_A', 'crayola_64_ct')
c.execute(plan[0], sleep)
# print 'going to control interface'
