.env.template

#!/bin/bash

function _complete_hubo_limit_update {
local resource_types="table|home|log|txt"
# not processing a current option, so offer all the options again
local opts="--logfile --joint-table --limit-table ---help"
#Try to offer command line options for openhubo.py
    cur="${COMP_WORDS[COMP_CWORD]}"
    prev="${COMP_WORDS[COMP_CWORD-1]}"

    case "${prev}" in
        --joint-table)
            opts=`ls /etc/hubo-ach | grep 'table$'`
            COMPREPLY=($(compgen -W "$opts" -- ${cur};compgen -f -X "!*.+table"  -- ${cur};compgen -d -- ${cur}));compopt -o filenames
            return 0
            ;;
        --limit-table)
            COMPREPLY=($(compgen -f -X '!*.+home|txt$'  -- ${cur};compgen -d -- ${cur}));compopt -o filenames
            return 0
            ;;
        *)
            ;;
    esac

    COMPREPLY=($(compgen -W "$opts" -- ${cur}))
    if [[ ${cur} != -* ]] ; then
        # add in xml and dae and zae files
        COMPREPLY=($(compgen -f -X "!*.+(${resource_types})" -- ${cur}) ${COMPREPLY[@]})
    fi
}

function _complete_openhubo {
local resource_types="py"
local robot_exts="dae|zae|xml"
# not processing a current option, so offer all the options again
local opts="--robot --no-robot --scene --no-scene --physicsfile --no-physics --ghost --atheight --interpreter --no-interact --no-interactive-imports --profile --testsuite --example --record --no-stop-simulation --video-capture-file --viewer --level --physics ---help"
#Try to offer command line options for openhubo.py
    cur="${COMP_WORDS[COMP_CWORD]}"
    prev="${COMP_WORDS[COMP_CWORD-1]}"

    case "${prev}" in
        --example)
            opts=`ls $OPENHUBO_DIR/examples | grep '.py$'`
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --robot)
            opts=`ls $OPENHUBO_DIR/robots | grep '.robot.xml$'`
            COMPREPLY=($(compgen -W "$opts" -- ${cur};compgen -f -X "!*.+(${robot_exts})"  -- ${cur};compgen -d -- ${cur}));compopt -o filenames
            return 0
            ;;
        --scene)
            opts=`ls $OPENHUBO_DIR/scenes | grep ".env.xml"`
            COMPREPLY=($(compgen -W "$opts" -- ${cur};compgen -f -X "!*.+(${robot_exts})"  -- ${cur};compgen -d -- ${cur}));compopt -o filenames
            return 0
            ;;
        --physicsfile)
            opts=`ls $OPENHUBO_DIR/scenes | grep '.xml$'`
            COMPREPLY=($(compgen -W "$opts" -- ${cur};compgen -f -X '!*.+xml$'  -- ${cur};compgen -d -- ${cur}));compopt -o filenames
            return 0
            ;;
        --physics)
            opts="ode"
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --level|-l)
            opts="fatal error warn info debug verbose"
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        --viewer)
            opts=`openrave0.9.py --listinterfaces viewer`
            COMPREPLY=($(compgen -W "$opts" -- ${cur}))
            return 0
            ;;
        *)
            ;;
    esac

    COMPREPLY=($(compgen -W "$opts" -- ${cur}))
    if [[ ${cur} != -* ]] ; then
        # add in xml and dae and zae files
        COMPREPLY=($(compgen -f -X "!*.+(${resource_types})" -- ${cur}) ${COMPREPLY[@]})
    fi
}

export OPENHUBO_DIR=

if [[ ${#OPENRAVE_PLUGINS} == 0 ]]
then
    export OPENRAVE_PLUGINS=$OPENHUBO_DIR/plugins
else
    export OPENRAVE_PLUGINS=$OPENRAVE_PLUGINS:$OPENHUBO_DIR/plugins
fi

source `openrave-config --share-dir`/openrave_completion.bash
complete -F "_complete_openravepy" -o filenames -o plusdirs "openrave"
complete -F "_complete_openhubo" "openhubo"
complete -F "_complete_hubo_limit_update" "hubo-limit-update"

export PYTHONPATH=$PYTHONPATH:$OPENHUBO_DIR/
export MATLABPATH=$MATLABPATH:$OPENHUBO_DIR/comps-code/matlab:$OPENHUBO_DIR/matlab
export OPENRAVE_DATA=$OPENRAVE_DATA:$OPENHUBO_DIR/robots:$OPENHUBO_DIR/scenes:$OPENHUBO_DIR/kinbody
#This option forces rendering when running on a VM. If you experience video issues / crashes, try disabling this flag
export COIN_FULL_INDIRECT_RENDERING=1