text: #include "osgviewer/osgviewer.hpp"
  #include "osgviewer/robot_ui.hpp"
  #include <openrave-core.h>
  using namespace OpenRAVE;
  using namespace std;
  
  
  int main() {
    RaveInitialize(true, OpenRAVE::Level_Debug);
    EnvironmentBasePtr env = RaveCreateEnvironment();
    bool success = env->Load("data/pr2test2.env.xml");
    assert(success);
  
    vector<RobotBasePtr> robots;
    env->GetRobots(robots);
    RobotBasePtr robot = robots[0];
    vector<RobotBase::ManipulatorPtr> manips = robot->GetManipulators();
  
  
  
    OSGViewerPtr viewer(new OSGViewer(env));
    ManipulatorControl mc(manips[manips.size()-1], viewer);
    DriveControl dc(robot, viewer);
    StatePrinter sp(robot);
    viewer->AddKeyCallback('a', boost::bind(&StatePrinter::PrintAll, &sp));
  
    viewer->Idle();
  
  
  
  }
  