if 'fixedBaseArm' in drcargs.getDirectorConfig()['userConfig']:
ikPlanner.fixedBaseArm = True
if 'disableComponents' in drcargs.getDirectorConfig():
for component in drcargs.getDirectorConfig()['disableComponents']:
print "Disabling", component
locals()[component] = False
if 'enableComponents' in drcargs.getDirectorConfig():
for component in drcargs.getDirectorConfig()['enableComponents']:
print "Enabling", component
locals()[component] = True
if useSpreadsheet:
spreadsheet.init(poseCollection, costCollection)
if useIk:
def onIkStartup(ikServer, startSuccess):
if startSuccess:
app.getMainWindow().statusBar().showMessage('Planning server started.', 2000)
else:
app.showErrorMessage('Error detected while starting the matlab planning server. '
'Please check the output console for more information.', title='Error starting matlab')
ikServer.outputConsole = app.getOutputConsole()
ikServer.infoFunc = app.displaySnoptInfo
ikServer.connectStartupCompleted(onIkStartup)
startIkServer()
if 'userConfig' in drcargs.getDirectorConfig():
if 'fixedBaseArm' in drcargs.getDirectorConfig()['userConfig']:
ikPlanner.fixedBaseArm = True
if 'disableComponents' in drcargs.getDirectorConfig():
for component in drcargs.getDirectorConfig()['disableComponents']:
print "Disabling", component
locals()[component] = False
if 'enableComponents' in drcargs.getDirectorConfig():
for component in drcargs.getDirectorConfig()['enableComponents']:
print "Enabling", component
locals()[component] = True
if useSpreadsheet:
spreadsheet.init(poseCollection, costCollection)
if useIk:
def onIkStartup(ikServer, startSuccess):
if startSuccess:
app.getMainWindow().statusBar().showMessage(
'Planning server started.', 2000)
else:
app.showErrorMessage(
'Error detected while starting the matlab planning server. '
'Please check the output console for more information.',
title='Error starting matlab')
ikServer.outputConsole = app.getOutputConsole()
ikServer.infoFunc = app.displaySnoptInfo