def buildConstraints():

    ikPlanner = robotSystem.ikPlanner

    startPose = getRobotState()

    startPoseName = 'plan_start'
    endPoseName = 'plan_end'

    ikPlanner.addPose(startPose, startPoseName)
    ikPlanner.addPose(startPose, endPoseName)

    constraints = []
    constraints.extend(ikPlanner.createFixedFootConstraints(startPoseName))
    constraints.append(ikPlanner.createMovingBaseSafeLimitsConstraint())
    constraints.append(ikPlanner.createLockedLeftArmPostureConstraint(startPoseName))
    constraints.append(ikPlanner.createLockedRightArmPostureConstraint(startPoseName))
    constraints.append(ikPlanner.createLockedRightArmPostureConstraint(startPoseName))

    targetFrame = ikPlanner.getLinkFrameAtPose(ikPlanner.getHandLink('left'), startPose)

    p, o = ikPlanner.createPositionOrientationGraspConstraints('left', targetFrame)
    p.tspan = [1.0, 1.0]
    o.tspan = [1.0, 1.0]
    constraints.extend([p, o])

    return constraints
train the classifier with column vector of numeric labels and
dataset/ETHPy150Open RobotLocomotion/director/src/python/tests/testPyDrakeIk.py/buildConstraints--crossover with--dataset/ETHPy150Open ilastik/ilastik-0.5/ilastik/modules/classification/core/classifiers/classifierBase.py/ClassifierBase.train