#gmm = GaussianMixtureModel(
#"sdf",
#solution['GMMType'],
#solution['InputType'],
#solution['InputType'],
#solution['InputDim'],
#solution['InputDim'],
#[gauss] )
gmm = GaussianMixtureModel()
gmm.id = solution['GMM']
gmm.gaussian_dist.append(gauss)
gmm.type = solution['GMMType']
gmm.input_type = solution['InputType']
gmm.output_type = solution['InputType']
gmm.input_dim = solution['InputDim']
gmm.output_dim = solution['InputDim']
m = MotionModel()
m.id = solution['Model']
m.type = solution['Type']
m.described_by_GMM.append(gmm)
p = MotionPhase()
p.id = solution['Phase']
p.described_by_motion_model.append(m)
pub.publish(p)
rospy.sleep(1.0)
# also print some parts to the terminal
print "\n\n= = = = = = = = = = = = = = = = = = = = = "
