separate scene to work without simulator

src/baxter_agent.py

@@ -2,7 +2,6 @@
 from features_detection.recognizer import getFeatures
 from decision_api.decision_tree_gr import DecisionTreeGR
 from planning.baxter import Baxter
-from planning.scene import Scene
 import cv2
 #Baxter and ROS imports
 import baxter_interface
@@ -17,9 +16,6 @@ class BaxterAgent(object):
 		self.config = config
 
 		self.baxter = Baxter();
-		self.scene = Scene(self.baxter.get_planning_frame())
-		rospy.sleep(2)
-		self.init_scene()
 		self.baxter.both.move(self.baxter.both.neutral)
 
 		self.is_train = config['is_train']
@@ -116,13 +112,6 @@ class BaxterAgent(object):
 	def save_decision_tree(self):
 		self.tree.save(self.config['tree_dir'])
 
-	def init_scene(self):
-		#TODO#: initialize scene with description in config
-		self.scene.clear_scene()
-		self.scene.set_table()
-		self.scene.set_item()
-		rospy.sleep(2)
-
 	def init_move(self):
 		self.baxter.both.move(self.baxter.both.neutral)
 		self.baxter.right.gripper.close()

src/demo.py

@@ -16,22 +16,27 @@ def add_item(scene, color, msg):
 	if msg:
 		scene.set_item(color=color)
 
-def main():
 
+if __name__ == '__main__':
 	moveit_commander.roscpp_initialize(sys.argv)
 	rospy.init_node('garbage_bot', anonymous=True)
 
 	b = BaxterAgent(config)
 
-	ab = lambda m: add_item(b.scene, 'blue', m)
-	ar = lambda m: add_item(b.scene, 'red', m)
+	# simulator flag
+	if len(sys.argv) > 1:
+		scene = Scene(b.baxter.get_planning_frame())
+		rospy.sleep(2)
+		scene.clear_scene()
+		scene.set_table()
+		scene.set_item()
+		rospy.sleep(2)
 
-	b.navs['left'].button2_changed.connect(ab)
-	b.navs['right'].button2_changed.connect(ar)
-	
-	b.train()
-	b.run()
+		ab = lambda m: add_item(b.scene, 'blue', m)
+		ar = lambda m: add_item(b.scene, 'red', m)
 
+		b.navs['left'].button2_changed.connect(ab)
+		b.navs['right'].button2_changed.connect(ar)
 
-if __name__ == '__main__':
-	main()
+	b.train()
+	b.run()