from demo import setup_demo

%%bash --bg
rviz -d /home/jovyan/giskard_examples/launch/rvizweb_config/bmp.rviz

prolog = setup_demo()

results = list(prolog.query(
                            'taskRequest(Request, StateChange).'
                            ))

for result in results:
    print(result)
print(len(results))

results = list(prolog.query(
                            'taskRequest(X, StateChange),'
                            'causes(Motion, StateChange, MotionParam).'
                            ))

for result in results:
    print(result)
print(len(results))

results = list(prolog.query(
                            'taskRequest(Request, StateChange), '
                            'causes(Motion, StateChange, MotionParam),'
                            'canPerform(Robot, Motion, MotionParam).'
                            ))

for result in results:
    print(result)
print(len(results))