def initConstraintSet(self):
        # create constraint set
        startPose = self.getPlanningStartPose()
        startPoseName = 'gaze_plan_start'
        endPoseName = 'gaze_plan_end'
        self.ikPlanner.addPose(startPose, startPoseName)
        self.ikPlanner.addPose(startPose, endPoseName)
        self.constraintSet = ikplanner.ConstraintSet(self.ikPlanner, [], startPoseName, endPoseName)
        self.constraintSet.endPose = startPose

        # add body constraints
        bodyConstraints = self.ikPlanner.createMovingBodyConstraints(startPoseName, lockBase=self.lockBase, lockBack=self.lockBack, lockLeftArm=self.graspingHand=='right', lockRightArm=self.graspingHand=='left')
        self.constraintSet.constraints.extend(bodyConstraints)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/mappingdemo.py/MappingDemo.initConstraintSet/original