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