text: __author__ = 'manuelli'
  
  """
  Launches a director instance with additional classes relevant to Contact Particle Filter.
  Calls director with --startup option and file runContactFilterStartup.py
  """
  
  import os
  def main():
  
      spartan_source_dir = os.getenv('SPARTAN_SOURCE_DIR')
  
      if spartan_source_dir is None:
          raise EnvironmentError('The $SPARTAN_SOURCE_DIR variable must be set to the spartan source directory')
          return
  
      director_kuka_command = "directorPython $SPARTAN_SOURCE_DIR/drake/drake/examples/kuka_iiwa_arm/director_ik_app.py" \
                              " --director_config $SPARTAN_SOURCE_DIR/drake/drake/examples/kuka_iiwa_arm/director_config.json"
      startup_command = " --startup $SPARTAN_SOURCE_DIR/src/ContactParticleFilter/python/runContactParticleFilterStartup.py"
  
  
      shell_command = director_kuka_command + startup_command
      print shell_command
      os.system(shell_command)
  
  
  if __name__ == '__main__':
      main()