def __init__(self, config_file="body_model.conf", section="BodyModel"): c = ConfigParser() if not path.exists(config_file): print 'Config file %s not found!' % config_file raise IOError c.read(config_file) self.legs = [LegModel() for i in range(NUM_LEGS)] # Leg Offsets self.LEG0_OFFSET_X = c.getfloat(section, "leg0_offset_x") self.LEG0_OFFSET_Y = c.getfloat(section, "leg0_offset_y") self.LEG0_THETA = c.getfloat(section, "leg0_theta") self.LEG1_OFFSET_X = c.getfloat(section, "leg1_offset_x") self.LEG1_OFFSET_Y = c.getfloat(section, "leg1_offset_y") self.CHASSIS_BOTTOM_Z = c.getfloat(section, "chassis_bottom_z")
def setUp(self): installArrayTypeEqualityFunction(self) self.leg = LegModel() self.leg_state = [array([0.0, 0.0, 0.0]), 0.0]