<commit_before>import os
import sys
import vtkAll as vtk
from ddapp import botpy
import math
import time
import types
import functools
import random
import numpy as np

from ddapp import transformUtils
from ddapp import lcmUtils
from ddapp.timercallback import TimerCallback
from ddapp import objectmodel as om
from ddapp import visualization as vis
from ddapp import applogic as app
from ddapp.debugVis import DebugData
from ddapp import ioUtils
from ddapp.simpletimer import SimpleTimer
from ddapp.utime import getUtime
from ddapp import robotstate
from ddapp import planplayback
from ddapp import segmentation

from ddapp import ik

import drc as lcmdrc

from PythonQt import QtCore, QtGui

copyFrame = transformUtils.copyFrame


class IKPlanner(object):

    def __init__(self, ikServer, robotModel, jointController, sensorJointController, planPlaybackFunction, showPoseFunction, playbackRobotModel):

        self.ikServer = ikServer
        self.robotModel = robotModel
        self.jointController = jointController
        self.sensorJointController = sensorJointController

        self.planPlaybackFunction = planPlaybackFunction
        self.showPoseFunction = showPoseFunction
        self.playbackRobotModel = playbackRobotModel

        self.endPoses = []
        self.affordanceName = 'board'
        #self.affordanceName = 'drill'
        self.affordance = None
        self.handModels = []

        self.reachingSide = 'left'
        self.graspSample = 0
        self.additionalTimeSamples = 10
        self.useQuasiStaticConstraint = True

        #self.handToUtorso = [0.05, 0.6, 0.10]
        self.handToUtorso = [0.2, 0.7, 0.0]

        self.planFromCurrentRobotState = True
<commit_msg>Changing default additional time samples in ikplanner<commit_after>import os
import sys
import vtkAll as vtk
from ddapp import botpy
import math
import time
import types
import functools
import random
import numpy as np

from ddapp import transformUtils
from ddapp import lcmUtils
from ddapp.timercallback import TimerCallback
from ddapp import objectmodel as om
from ddapp import visualization as vis
from ddapp import applogic as app
from ddapp.debugVis import DebugData
from ddapp import ioUtils
from ddapp.simpletimer import SimpleTimer
from ddapp.utime import getUtime
from ddapp import robotstate
from ddapp import planplayback
from ddapp import segmentation

from ddapp import ik

import drc as lcmdrc

from PythonQt import QtCore, QtGui

copyFrame = transformUtils.copyFrame


class IKPlanner(object):

    def __init__(self, ikServer, robotModel, jointController, sensorJointController, planPlaybackFunction, showPoseFunction, playbackRobotModel):

        self.ikServer = ikServer
        self.robotModel = robotModel
        self.jointController = jointController
        self.sensorJointController = sensorJointController

        self.planPlaybackFunction = planPlaybackFunction
        self.showPoseFunction = showPoseFunction
        self.playbackRobotModel = playbackRobotModel

        self.endPoses = []
        self.affordanceName = 'board'
        #self.affordanceName = 'drill'
        self.affordance = None
        self.handModels = []

        self.reachingSide = 'left'
        self.graspSample = 0
        self.additionalTimeSamples = 0
        self.useQuasiStaticConstraint = True

        #self.handToUtorso = [0.05, 0.6, 0.10]
        self.handToUtorso = [0.2, 0.7, 0.0]

        self.planFromCurrentRobotState = True

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