def __init__(self):
BaseApp.__init__(self)
#initialize everything
# 1) Create the Panda world
# 2) Create the ODE World
# 3) Load the environment
# 4) Initialize any RobotWorld Objects / Parts
# 5) Load or create your robot
# 6) Load or create a program for your robot
# 7) Loop:
# a) for each part:
# i) simulate its inputs and outputs
# ii) apply any forces generated
# iii) execute micro-controller computations
# iv) loop if necessary to stabilize communication loops
# b) simulate ODE several times for each frame displayed
# c) possibly simulate airflow
#self.init_panda() #1
self.create_ode_world() #2
self.load_environment('data/RobotLab') #3
self.create_robot()
self.taskMgr.add(self.update, "update")
def __init__(self, devices, PluginClasses):
print APP_TITLE + " running..."
BaseApp.__init__(self, devices)
self.started = False
# Command Message Handlers
self.cmdMessageHandlers = {
CMD_MSG_TOPICS.NEW_TASK:[
self.createAndAddTask
],
CMD_MSG_TOPICS.SHUTDOWN:[
self.generateShutdownMessage
]
}
self.installCmdMessageHandler()
self.shutdown_msg = None
# Plugins
self.plugins = []
# Instantiation
if PluginClasses:
for PluginClass in PluginClasses:
self.plugins.append(PluginClass(self))
self.installPlugins()
def dispatchMessage(self, topic, message):
BaseApp.dispatchMessage(self, topic, message)
def close(self):
BaseApp.close(self)
import sys from base_app import BaseApp bookmaker_name = sys.argv[1] if len(sys.argv) > 1 else None app = BaseApp() app.doParse( bookmaker_name )