示例#1
0
    def loadConfig(self, filename, reload=False):
        # parameters are given in (our own brand of) config-file syntax
        self.config = ConfigGrabber(filename,
                                    sectionId="<!--odeenvironment parameters",
                                    delim=("<", ">"))

        # <passpairs>
        self.passpairs = []
        for passpairstring in self.config.getValue("passpairs")[:]:
            self.passpairs.append(eval(passpairstring))
        if self.verbosity > 0:
            print "-------[pass tuples]--------"
            print self.passpairs
            print "----------------------------"

        # <centerOn>
        # set focus of camera to the first object specified in the section, if any
        if self.render:
            try:
                self.centerOn(self.config.getValue("centerOn")[0])
            except IndexError:
                pass

        # <affixToEnvironment>
        for jointName in self.config.getValue("affixToEnvironment")[:]:
            try:
                # find first object with that name
                obj = self.root.namedChild(jointName).getODEObject()
            except IndexError:
                print "ERROR: Could not affix object '" + jointName + "' to environment!"
                sys.exit(1)
            if isinstance(obj, ode.Joint):
                # if it is a joint, use this joint to fix to environment
                obj.attach(obj.getBody(0), ode.environment)
            elif isinstance(obj, ode.Body):
                # if it is a body, create new joint and fix body to environment
                j = ode.FixedJoint(self.world)
                j.attach(obj, ode.environment)
                j.setFixed()

        # <colors>
        for coldefstring in self.config.getValue("colors")[:]:
            # ('name', (0.3,0.4,0.5))
            objname, coldef = eval(coldefstring)
            for (body, _) in self.body_geom:
                if hasattr(body, 'name'):
                    if objname == body.name:
                        body.color = coldef
                        break

        if not reload:
            # add the JointSensor as default
            self.sensors = []
            ## self.addSensor(self._jointSensor)

            # <sensors>
            # expects a list of strings, each of which is the executable command to create a sensor object
            # example: DistToPointSensor('legSensor', (0.0, 0.0, 5.0))
            sens = self.config.getValue("sensors")[:]
            for s in sens:
                try:
                    self.addSensor(eval('sensors.' + s))
                except AttributeError:
                    print dir(sensors)
                    warnings.warn("Sensor name with name " + s +
                                  " not found. skipped.")
        else:
            for s in self.sensors:
                s._connect(self)
            for a in self.actuators:
                a._connect(self)
示例#2
0
class ODEEnvironment(Environment):
    """
    Virtual simulation for rigid bodies. Uses ODE as a physics engine and OpenGL as graphics
    interface to simulate and display arbitrary objects. Virtual worlds are defined through
    an XML file in XODE format (see http://tanksoftware.com/xode/). This file can be loaded
    into the world with the "loadXODE(...)" function. Use performAction(...) or step() to advance
    the simulation by one step.
    """
    # objects with names within one tuple can pass each other
    passpairs = []
    # define a verbosity level for selective debug output (0=none)
    verbosity = 0

    def __init__(self,
                 render=True,
                 realtime=True,
                 ip="127.0.0.1",
                 port="21590",
                 buf='16384'):
        """ initializes the virtual world, variables, the frame rate and the callback functions."""
        print "ODEEnvironment -- based on Open Dynamics Engine."

        # initialize base class
        self.render = render
        if self.render:
            self.updateDone = True
            self.updateLock = threading.Lock()
            self.server = UDPServer(ip, port)
        self.realtime = realtime

        # initialize attributes
        self.resetAttributes()

        # initialize the textures dictionary
        self.textures = {}

        # initialize sensor and exclude list
        self.sensors = []
        self.excludesensors = []

        #initialize actuators list
        self.actuators = []

        # A joint group for the contact joints that are generated whenever two bodies collide
        self.contactgroup = ode.JointGroup()

        self.dt = 0.01
        self.FricMu = 8.0
        self.stepsPerAction = 1
        self.stepCounter = 0

    def resetAttributes(self):
        """resets the class attributes to their default values"""
        # initialize root node
        self.root = None

        # A list with (body, geom) tuples
        self.body_geom = []

    def reset(self):
        """resets the model and all its parameters to their original values"""
        self.loadXODE(self._currentXODEfile, reload=True)
        self.stepCounter = 0

    def setGravity(self, g):
        """set the world's gravity constant in negative y-direction"""
        self.world.setGravity((0, -g, 0))

    def _setWorldParameters(self):
        """ sets parameters for ODE world object: gravity, error correction (ERP, default=0.2),
        constraint force mixing (CFM, default=1e-5).  """
        self.world.setGravity((0, -9.81, 0))
        # self.world.setERP(0.2)
        # self.world.setCFM(1e-9)

    def _create_box(self, space, density, lx, ly, lz):
        """Create a box body and its corresponding geom."""
        # Create body and mass
        body = ode.Body(self.world)
        M = ode.Mass()
        M.setBox(density, lx, ly, lz)
        body.setMass(M)
        body.name = None
        # Create a box geom for collision detection
        geom = ode.GeomBox(space, lengths=(lx, ly, lz))
        geom.setBody(body)
        geom.name = None

        return (body, geom)

    def _create_sphere(self, space, density, radius):
        """Create a sphere body and its corresponding geom."""
        # Create body and mass
        body = ode.Body(self.world)
        M = ode.Mass()
        M.setSphere(density, radius)
        body.setMass(M)
        body.name = None

        # Create a sphere geom for collision detection
        geom = ode.GeomSphere(space, radius)
        geom.setBody(body)
        geom.name = None

        return (body, geom)

    def drop_object(self):
        """Drops a random object (box, sphere) into the scene."""
        # choose between boxes and spheres
        if random.uniform() > 0.5:
            (body, geom) = self._create_sphere(self.space, 10, 0.4)
        else:
            (body, geom) = self._create_box(self.space, 10, 0.5, 0.5, 0.5)
        # randomize position slightly
        body.setPosition((random.normal(-6.5,
                                        0.5), 6.0, random.normal(-6.5, 0.5)))
        # body.setPosition( (0.0, 3.0, 0.0) )
        # randomize orientation slightly
        #theta = random.uniform(0,2*pi)
        #ct = cos (theta)
        #st = sin (theta)
        # rotate body and append to (body,geom) tuple list
        # body.setRotation([ct, 0., -st, 0., 1., 0., st, 0., ct])
        self.body_geom.append((body, geom))

    # -- sensor and actuator functions
    def addSensor(self, sensor):
        """ adds a sensor object to the list of sensors """
        if not isinstance(sensor, sensors.Sensor):
            raise TypeError(
                "the given sensor is not an instance of class 'Sensor'.")
        # add sensor to sensors list
        self.sensors.append(sensor)
        # connect sensor and give it the virtual world object
        sensor._connect(self)

    def addActuator(self, actuator):
        """ adds a sensor object to the list of sensors """
        if not isinstance(actuator, actuators.Actuator):
            raise TypeError(
                "the given actuator is not an instance of class 'Actuator'.")
        # add sensor to sensors list
        self.actuators.append(actuator)
        # connect actuator and give it the virtual world object
        actuator._connect(self)

    def addTexture(self, name, texture):
        """ adds a texture to the given ODE object name """
        self.textures[name] = texture

    def centerOn(self, name):
        return
        """ if set, keeps camera to the given ODE object name. """
        try:
            self.getRenderer().setCenterObj(
                self.root.namedChild(name).getODEObject())
        except KeyError:
            # name not found, unset centerObj
            print "Warning: Cannot center on " + name
            self.centerObj = None

    def loadXODE(self, filename, reload=False):
        """ loads an XODE file (xml format) and parses it. """
        f = file(filename)
        self._currentXODEfile = filename
        p = xode.parser.Parser()
        self.root = p.parseFile(f)
        f.close()
        try:
            # filter all xode "world" objects from root, take only the first one
            world = filter(lambda x: isinstance(x, xode.parser.World),
                           self.root.getChildren())[0]
        except IndexError:
            # malicious format, no world tag found
            print "no <world> tag found in " + filename + ". quitting."
            sys.exit()
        self.world = world.getODEObject()
        self._setWorldParameters()
        try:
            # filter all xode "space" objects from world, take only the first one
            space = filter(lambda x: isinstance(x, xode.parser.Space),
                           world.getChildren())[0]
        except IndexError:
            # malicious format, no space tag found
            print "no <space> tag found in " + filename + ". quitting."
            sys.exit()
        self.space = space.getODEObject()

        # load bodies and geoms for painting
        self.body_geom = []
        self._parseBodies(self.root)

        if self.verbosity > 0:
            print "-------[body/mass list]-----"
            for (body, _) in self.body_geom:
                try:
                    print body.name, body.getMass()
                except AttributeError:
                    print "<Nobody>"

        # now parse the additional parameters at the end of the xode file
        self.loadConfig(filename, reload)

    def loadConfig(self, filename, reload=False):
        # parameters are given in (our own brand of) config-file syntax
        self.config = ConfigGrabber(filename,
                                    sectionId="<!--odeenvironment parameters",
                                    delim=("<", ">"))

        # <passpairs>
        self.passpairs = []
        for passpairstring in self.config.getValue("passpairs")[:]:
            self.passpairs.append(eval(passpairstring))
        if self.verbosity > 0:
            print "-------[pass tuples]--------"
            print self.passpairs
            print "----------------------------"

        # <centerOn>
        # set focus of camera to the first object specified in the section, if any
        if self.render:
            try:
                self.centerOn(self.config.getValue("centerOn")[0])
            except IndexError:
                pass

        # <affixToEnvironment>
        for jointName in self.config.getValue("affixToEnvironment")[:]:
            try:
                # find first object with that name
                obj = self.root.namedChild(jointName).getODEObject()
            except IndexError:
                print "ERROR: Could not affix object '" + jointName + "' to environment!"
                sys.exit(1)
            if isinstance(obj, ode.Joint):
                # if it is a joint, use this joint to fix to environment
                obj.attach(obj.getBody(0), ode.environment)
            elif isinstance(obj, ode.Body):
                # if it is a body, create new joint and fix body to environment
                j = ode.FixedJoint(self.world)
                j.attach(obj, ode.environment)
                j.setFixed()

        # <colors>
        for coldefstring in self.config.getValue("colors")[:]:
            # ('name', (0.3,0.4,0.5))
            objname, coldef = eval(coldefstring)
            for (body, _) in self.body_geom:
                if hasattr(body, 'name'):
                    if objname == body.name:
                        body.color = coldef
                        break

        if not reload:
            # add the JointSensor as default
            self.sensors = []
            ## self.addSensor(self._jointSensor)

            # <sensors>
            # expects a list of strings, each of which is the executable command to create a sensor object
            # example: DistToPointSensor('legSensor', (0.0, 0.0, 5.0))
            sens = self.config.getValue("sensors")[:]
            for s in sens:
                try:
                    self.addSensor(eval('sensors.' + s))
                except AttributeError:
                    print dir(sensors)
                    warnings.warn("Sensor name with name " + s +
                                  " not found. skipped.")
        else:
            for s in self.sensors:
                s._connect(self)
            for a in self.actuators:
                a._connect(self)

    def _parseBodies(self, node):
        """ parses through the xode tree recursively and finds all bodies and geoms for drawing. """

        # body (with nested geom)
        if isinstance(node, xode.body.Body):
            body = node.getODEObject()
            body.name = node.getName()
            try:
                # filter all xode geom objects and take the first one
                xgeom = filter(lambda x: isinstance(x, xode.geom.Geom),
                               node.getChildren())[0]
            except IndexError:
                return ()  # no geom object found, skip this node
            # get the real ode object
            geom = xgeom.getODEObject()
            # if geom doesn't have own name, use the name of its body
            geom.name = node.getName()
            self.body_geom.append((body, geom))

        # geom on its own without body
        elif isinstance(node, xode.geom.Geom):
            try:
                node.getFirstAncestor(ode.Body)
            except xode.node.AncestorNotFoundError:
                body = None
                geom = node.getODEObject()
                geom.name = node.getName()
                self.body_geom.append((body, geom))

        # special cases for joints: universal, fixed, amotor
        elif isinstance(node, xode.joint.Joint):
            joint = node.getODEObject()

            if type(joint) == ode.UniversalJoint:
                # insert an additional AMotor joint to read the angles from and to add torques
                # amotor = ode.AMotor(self.world)
                # amotor.attach(joint.getBody(0), joint.getBody(1))
                # amotor.setNumAxes(3)
                # amotor.setAxis(0, 0, joint.getAxis2())
                # amotor.setAxis(2, 0, joint.getAxis1())
                # amotor.setMode(ode.AMotorEuler)
                # xode_amotor = xode.joint.Joint(node.getName() + '[amotor]', node.getParent())
                # xode_amotor.setODEObject(amotor)
                # node.getParent().addChild(xode_amotor, None)
                pass
            if type(joint) == ode.AMotor:
                # do the euler angle calculations automatically (ref. ode manual)
                joint.setMode(ode.AMotorEuler)

            if type(joint) == ode.FixedJoint:
                # prevent fixed joints from bouncing to center of first body
                joint.setFixed()

        # recursive call for all child nodes
        for c in node.getChildren():
            self._parseBodies(c)

    def excludeSensors(self, exclist):
        self.excludesensors.extend(exclist)

    def getSensors(self):
        """ returns combined sensor data """
        output = []
        for s in self.sensors:
            if not s.name in self.excludesensors:
                output.extend(s.getValues())
        return asarray(output)

    def getSensorNames(self):
        return [s.name for s in self.sensors]

    def getActuatorNames(self):
        return [a.name for a in self.actuators]

    def getSensorByName(self, name):
        try:
            idx = self.getSensorNames().index(name)
        except ValueError:
            warnings.warn('sensor ' + name + ' is not in sensor list.')
            return []

        return self.sensors[idx].getValues()

    @property
    def indim(self):
        num = 0
        for a in self.actuators:
            num += a.getNumValues()
        return num

    def getActionLength(self):
        print "getActionLength() is deprecated. use property 'indim' instead."
        return self.indim

    @property
    def outdim(self):
        return len(self.getSensors())

    def performAction(self, action):
        """ sets the values for all actuators combined. """
        pointer = 0
        for a in self.actuators:
            val = a.getNumValues()
            a._update(action[pointer:pointer + val])
            pointer += val

        for _ in range(self.stepsPerAction):
            self.step()

    def getXODERoot(self):
        return self.root

    #--- callback functions ---#
    def _near_callback(self, args, geom1, geom2):
        """Callback function for the collide() method.
        This function checks if the given geoms do collide and
        creates contact joints if they do."""

        # only check parse list, if objects have name
        if geom1.name != None and geom2.name != None:
            # Preliminary checking, only collide with certain objects
            for p in self.passpairs:
                g1 = False
                g2 = False
                for x in p:
                    g1 = g1 or (geom1.name.find(x) != -1)
                    g2 = g2 or (geom2.name.find(x) != -1)
                if g1 and g2:
                    return ()

        # Check if the objects do collide
        contacts = ode.collide(geom1, geom2)

        # Create contact joints
        world, contactgroup = args
        for c in contacts:
            p = c.getContactGeomParams()
            # parameters from Niko Wolf
            c.setBounce(0.2)
            c.setBounceVel(
                0.05)  #Set the minimum incoming velocity necessary for bounce
            c.setSoftERP(0.6)  #Set the contact normal "softness" parameter
            c.setSoftCFM(0.00005)  #Set the contact normal "softness" parameter
            c.setSlip1(
                0.02
            )  #Set the coefficient of force-dependent-slip (FDS) for friction direction 1
            c.setSlip2(
                0.02
            )  #Set the coefficient of force-dependent-slip (FDS) for friction direction 2
            c.setMu(self.FricMu)  #Set the Coulomb friction coefficient
            j = ode.ContactJoint(world, contactgroup, c)
            j.name = None
            j.attach(geom1.getBody(), geom2.getBody())

    def getCurrentStep(self):
        return self.stepCounter

    @threaded()
    def updateClients(self):
        self.updateDone = False
        if not self.updateLock.acquire(False):
            return

        # build message to send
        message = []
        for (body, geom) in self.body_geom:
            item = {}
            # real bodies (boxes, spheres, ...)
            if body != None:
                # transform (rotate, translate) body accordingly
                item['position'] = body.getPosition()
                item['rotation'] = body.getRotation()
                if hasattr(body, 'color'): item['color'] = body.color

                # switch different geom objects
                if type(geom) == ode.GeomBox:
                    # cube
                    item['type'] = 'GeomBox'
                    item['scale'] = geom.getLengths()
                elif type(geom) == ode.GeomSphere:
                    # sphere
                    item['type'] = 'GeomSphere'
                    item['radius'] = geom.getRadius()

                elif type(geom) == ode.GeomCCylinder:
                    # capped cylinder
                    item['type'] = 'GeomCCylinder'
                    item['radius'] = geom.getParams()[0]
                    item['length'] = geom.getParams()[1] - 2 * item['radius']

                elif type(geom) == ode.GeomCylinder:
                    # solid cylinder
                    item['type'] = 'GeomCylinder'
                    item['radius'] = geom.getParams()[0]
                    item['length'] = geom.getParams()[1]
                else:
                    # TODO: add other geoms here
                    pass

            else:
                # no body found, then it must be a plane (we only draw planes)
                if type(geom) == ode.GeomPlane:
                    # plane
                    item['type'] = 'GeomPlane'
                    item['normal'] = geom.getParams()[
                        0]  # the normal vector to the plane
                    item['distance'] = geom.getParams()[
                        1]  # the distance to the origin

            message.append(item)

        # Listen for clients
        self.server.listen()
        if self.server.clients > 0:
            # If there are clients send them the new data
            self.server.send(message)
        time.sleep(0.02)
        self.updateLock.release()
        self.updateDone = True

    def step(self):
        """ Here the ode physics is calculated by one step. """

        # call additional callback functions for all kinds of tasks (e.g. printing)
        self._printfunc()

        # Detect collisions and create contact joints
        self.space.collide((self.world, self.contactgroup),
                           self._near_callback)

        # Simulation step
        self.world.step(float(self.dt))
        # Remove all contact joints
        self.contactgroup.empty()

        # update all sensors
        for s in self.sensors:
            s._update()

        # update clients
        if self.render and self.updateDone:
            self.updateClients()
            if self.server.clients > 0 and self.realtime:
                time.sleep(self.dt)

        # increase step counter
        self.stepCounter += 1
        return self.stepCounter

    def _printfunc(self):
        pass
        # print self.root.namedChild('palm').getODEObject().getPosition()

    def specialkeyfunc(self, c, x, y):
        """Derived classes can implement extra functionality here"""
        pass

    #--- helper functions ---#
    def _print_help(self):
        """ prints out the keyboard shortcuts. """
        print "v   -> toggle view with mouse on/off"
        print "s   -> toggle screen capture on/off"
        print "d   -> drop an object"
        print "f   -> lift all objects"
        print "m   -> toggle mouse view (press button to zoom)"
        print "r   -> random torque at all joints"
        print "a/z -> negative/positive torque to all joints"
        print "g   -> print current state"
        print "n   -> reset environment"
        self.specialfunctionDoc()
        print "x,q -> exit program"

    def specialfunctionDoc(self):
        """Derived classes can implement extra functionality here"""
        pass
示例#3
0
class ODEEnvironment(Environment):
    """ODEEnvironment class

    Virtual simulation for rigid bodies. Uses ODE as a physics engine to
    simulate objects acting in a physical space. Virtual worlds are defined
    through an XML file in XODE format (see http://tanksoftware.com/xode/). 
    This file can be loaded into the world with the 'loadXODE()' method.
    Use performAction(...) or step() to advance the simulation by one step.

    Methods:
    """
    def __init__(
            self, render=True, realtime=True, ip="127.0.0.1", port="21590",
            buf='16384', verbose=False, gravity=-9.81):
        """Initialize

        Initializes the ODE world, variables, the frame rate and the 
        callback functions.

        Arguments:
            render: Determines if object information should be sent over UDP
                to the viewer client. (Boolean - Default: True)
            realtime: Determines if the simulation should have real-time
                constraints. (Boolean - Default: True)
            ip: The IP address of the viewer client. This is only used if
                render is set to True. (String - Default: '127.0.0.1')
            port: The port of the viewer client. This is only used if
                render is set to True. (String - Default: '21590')
            buf: The size of the UDP buffer. This is only used if render is
                set to True. (String - Default: '16384')
            verbose: Determines if extra debug information should be
                displayed. (Boolean - Default: False)
            gravity: The gravity in meters per second to be excerted on objects
                in the world. (Float - Default: -9.81)
        """
        # Initialize base class
        self.render = render

        if self.render:
            self.updateDone = True
            self.updateLock = threading.Lock()
            self.server = UDPServer(ip, port)

        self.realtime = realtime

        # Initialize attributes
        self.resetAttributes()

        # Determine if extra debug information will be displayed
        self.verbose = verbose

        # initialize the textures dictionary
        self.textures = {}

        # objects with names within one tuple can pass each other
        self.passpairs = []

        # initialize sensor and exclude list
        self.sensors = []
        self.excludesensors = []

        #initialize actuators list
        self.actuators = []

        # A joint group for the contact joints that are generated whenever two bodies collide
        self.contactgroup = ode.JointGroup()

        self.dt = 0.01
        self.FricMu = 8.0
        self.stepsPerAction = 1
        self.stepCounter = 0

        # Determine world gravity based on the initialization argument
        self.g = gravity

        # Maintain a list of bodies that should not be sent to the OpenGL viewer
        self.invisible_bodies = []

        # Store all geometries/bodies sent to the OpenGL renderer to determine
        # if they have been modified or not
        self.prev_message = {}

        if self.verbose:
            print "ODEEnvironment -- based on Open Dynamics Engine."

        return

    def closeSocket(self):
        self.server.UDPInSock.close()
        time.sleep(10)
        return

    def resetAttributes(self):
        """resets the class attributes to their default values"""
        # initialize root node
        self.root = None

        # A list with (body, geom) tuples
        self.body_geom = []
        return

    def reset(self):
        """resets the model and all its parameters to their original values"""
        self.loadXODE(self._currentXODEfile, reload=True)
        self.stepCounter = 0
        return

    def stop(self):
        """Stop Simulation

        Stops the simulation, destroys the world, and releases all ODE
        specific resources.
        """
        del self.world
        ode.CloseODE()
        return

    def setGravity(self, g):
        """set the world's gravity constant in negative y-direction"""
        self.world.setGravity((0, g, 0))
        self.g = g
        return

    def _setWorldParameters(self):
        """ sets parameters for ODE world object: gravity, error correction (ERP, default=0.2),
        constraint force mixing (CFM, default=1e-5).  """
        self.world.setGravity((0, self.g, 0))

        self.world.setContactSurfaceLayer(0.0001)
        self.world.setContactMaxCorrectingVel(0.1)
        #self.world.setERP(0.2)
        #self.world.setCFM(1e-9)
        return

    def _create_box(self, space, density, lx, ly, lz):
        """Create a box body and its corresponding geom."""
        # Create body and mass
        body = ode.Body(self.world)
        M = ode.Mass()
        M.setBox(density, lx, ly, lz)
        body.setMass(M)
        body.name = None

        # Create a box geom for collision detection
        geom = ode.GeomBox(space, lengths=(lx, ly, lz))
        geom.setBody(body)
        geom.name = None

        return (body, geom)

    def _create_sphere(self, space, density, radius):
        """Create a sphere body and its corresponding geom."""
        # Create body and mass
        body = ode.Body(self.world)
        M = ode.Mass()
        M.setSphere(density, radius)
        body.setMass(M)
        body.name = None

        # Create a sphere geom for collision detection
        geom = ode.GeomSphere(space, radius)
        geom.setBody(body)
        geom.name = None

        return (body, geom)

    def drop_object(self):
        """Drops a random object (box, sphere) into the scene."""
        # choose between boxes and spheres
        if random.uniform() > 0.5:
            (body, geom) = self._create_sphere(self.space, 10, 0.4)
        else:
            (body, geom) = self._create_box(self.space, 10, 0.5, 0.5, 0.5)
        # randomize position slightly
        body.setPosition((random.normal(-6.5, 0.5), 6.0, random.normal(-6.5, 0.5)))
        # body.setPosition( (0.0, 3.0, 0.0) )
        # randomize orientation slightly
        #theta = random.uniform(0,2*pi)
        #ct = cos (theta)
        #st = sin (theta)
        # rotate body and append to (body,geom) tuple list
        # body.setRotation([ct, 0., -st, 0., 1., 0., st, 0., ct])
        self.body_geom.append((body, geom))

        return

    def addSensor(self, sensor):
        """ adds a sensor object to the list of sensors """
        if not isinstance(sensor, sensors.Sensor):
            raise TypeError("the given sensor is not an instance of class 'Sensor'.")

        # add sensor to sensors list
        self.sensors.append(sensor)

        # connect sensor and give it the virtual world object
        sensor._connect(self)
        return

    def addActuator(self, actuator):
        """ adds a sensor object to the list of sensors """
        if not isinstance(actuator, actuators.Actuator):
            raise TypeError("the given actuator is not an instance of class 'Actuator'.")

        # add sensor to sensors list
        self.actuators.append(actuator)

        # connect actuator and give it the virtual world object
        actuator._connect(self)
        return

    def addTexture(self, name, texture):
        """ adds a texture to the given ODE object name """
        self.textures[name] = texture
        return

    def centerOn(self, name):
        """ if set, keeps camera to the given ODE object name. """
        try:
            self.getRenderer().setCenterObj(self.root.namedChild(name).getODEObject())
        except KeyError:
            # name not found, unset centerObj
            print "Warning: Cannot center on " + name
            self.centerObj = None

        return

    def loadXODE(self, filename, reload=False):
        """ loads an XODE file (xml format) and parses it. """
        f = file(filename)
        self._currentXODEfile = filename
        p = xode.parser.Parser()
        self.root = p.parseFile(f)
        f.close()

        try:
            # filter all xode "world" objects from root, take only the first one
            world = filter(lambda x: isinstance(x, xode.parser.World), self.root.getChildren())[0]
        except IndexError:
            # malicious format, no world tag found
            print "no <world> tag found in " + filename + ". quitting."
            sys.exit(1)

        self.world = world.getODEObject()
        self._setWorldParameters()

        try:
            # filter all xode "space" objects from world, take only the first one
            space = filter(lambda x: isinstance(x, xode.parser.Space), world.getChildren())[0]
        except IndexError:
            # malicious format, no space tag found
            print "no <space> tag found in " + filename + ". quitting."
            sys.exit(1)

        self.space = space.getODEObject()

        # load bodies and geoms for painting
        self.body_geom = []
        self._parseBodies(self.root)

        if self.verbose:
            print "-------[body/mass list]-----"
            for (body, _) in self.body_geom:
                try:
                    print body.name, body.getMass()
                except AttributeError:
                    print "<Nobody>"

        # now parse the additional parameters at the end of the xode file
        self.loadConfig(filename, reload)
        return

    def loadConfig(self, filename, reload=False):
        # parameters are given in (our own brand of) config-file syntax
        self.config = ConfigGrabber(filename, sectionId="<!--odeenvironment parameters", delim=("<", ">"))

        # <passpairs>
        self.passpairs = []
        for passpairstring in self.config.getValue("passpairs")[:]:
            self.passpairs.append(eval(passpairstring))

        if self.verbose:
            print "-------[pass tuples]--------"
            print self.passpairs
            print "----------------------------"

        # <noGravity>
        for obj_name in self.config.getValue('noGravity'):
            try:
                obj = self.root.namedChild(obj_name).getODEObject()
            except IndexError:
                print 'ERROR: Could not find object \'%s\'' % (obj_name)
                sys.exit(1)

            if isinstance(obj, ode.Body):
                obj.setGravityMode(False)
            else:
                print ('ERROR: noGravity configuration is only valid for' +
                       'ODE Body class objects')

        # <invisible>
        for obj_name in self.config.getValue('invisible'):
            try:
                obj = self.root.namedChild(obj_name).getODEObject()
            except IndexError:
                print 'ERROR: Could not find object \'%s\'' % (obj_name)
                sys.exit(1)

            if isinstance(obj, ode.Body):
                self.invisible_bodies.append(obj_name)
            else:
                print ('ERROR: invisible configuration is only valid for' +
                       'ODE Body class objects')

        # <centerOn>
        # set focus of camera to the first object specified in the section, if any
        if self.render:
            try:
                self.centerOn(self.config.getValue("centerOn")[0])
            except IndexError:
                pass

        # <affixToEnvironment>
        for jointName in self.config.getValue("affixToEnvironment")[:]:
            try:
                # find first object with that name
                obj = self.root.namedChild(jointName).getODEObject()
            except IndexError:
                print "ERROR: Could not affix object '" + jointName + "' to environment!"
                sys.exit(1)
            if isinstance(obj, ode.Joint):
                # if it is a joint, use this joint to fix to environment
                obj.attach(obj.getBody(0), ode.environment)
            elif isinstance(obj, ode.Body):
                # if it is a body, create new joint and fix body to environment
                j = ode.FixedJoint(self.world)
                j.attach(obj, ode.environment)
                j.setFixed()

        # <colors>
        for coldefstring in self.config.getValue("colors")[:]:
            # ('name', (0.3,0.4,0.5))
            objname, coldef = eval(coldefstring)
            for (body, _) in self.body_geom:
                if hasattr(body, 'name'):
                    if objname == body.name:
                        body.color = coldef
                        break

        if not reload:
            # add the JointSensor as default
            self.sensors = []
            ## self.addSensor(self._jointSensor)

            # <sensors>
            # expects a list of strings, each of which is the executable command to create a sensor object
            # example: DistToPointSensor('legSensor', (0.0, 0.0, 5.0))
            sens = self.config.getValue("sensors")[:]
            for s in sens:
                try:
                    self.addSensor(eval('sensors.' + s))
                except AttributeError:
                    print dir(sensors)
                    warnings.warn("Sensor name with name " + s + " not found. skipped.")
        else:
            for s in self.sensors:
                s._connect(self)
            for a in self.actuators:
                a._connect(self)

        return

    def _parseBodies(self, node):
        """ parses through the xode tree recursively and finds all bodies and geoms for drawing. """
        # body (with nested geom)
        if isinstance(node, xode.body.Body):
            body = node.getODEObject()
            body.name = node.getName()
            try:
                # filter all xode geom objects and take the first one
                xgeom = filter(lambda x: isinstance(x, xode.geom.Geom), node.getChildren())[0]
            except IndexError:
                return() # no geom object found, skip this node
            # get the real ode object
            geom = xgeom.getODEObject()
            # if geom doesn't have own name, use the name of its body
            geom.name = node.getName()
            self.body_geom.append((body, geom))

        # geom on its own without body
        elif isinstance(node, xode.geom.Geom):
            try:
                node.getFirstAncestor(ode.Body)
            except xode.node.AncestorNotFoundError:
                body = None
                geom = node.getODEObject()
                geom.name = node.getName()
                self.body_geom.append((body, geom))

        # special cases for joints: universal, fixed, amotor
        elif isinstance(node, xode.joint.Joint):
            joint = node.getODEObject()

            if type(joint) == ode.UniversalJoint:
                # insert an additional AMotor joint to read the angles from and to add torques
                # amotor = ode.AMotor(self.world)
                # amotor.attach(joint.getBody(0), joint.getBody(1))
                # amotor.setNumAxes(3)
                # amotor.setAxis(0, 0, joint.getAxis2())
                # amotor.setAxis(2, 0, joint.getAxis1())
                # amotor.setMode(ode.AMotorEuler)
                # xode_amotor = xode.joint.Joint(node.getName() + '[amotor]', node.getParent())
                # xode_amotor.setODEObject(amotor)
                # node.getParent().addChild(xode_amotor, None)
                pass
            if type(joint) == ode.AMotor:
                # do the euler angle calculations automatically (ref. ode manual)
                joint.setMode(ode.AMotorEuler)

            if type(joint) == ode.FixedJoint:
                # prevent fixed joints from bouncing to center of first body
                joint.setFixed()

        # recursive call for all child nodes
        for c in node.getChildren():
            self._parseBodies(c)

        return

    def excludeSensors(self, exclist):
        self.excludesensors.extend(exclist)
        return

    def getSensors(self):
        """ returns combined sensor data """
        output = []

        for s in self.sensors:
            if not s.name in self.excludesensors:
                output.extend(s.getValues())

        return asarray(output)

    def getSensorNames(self):
        return [s.name for s in self.sensors]

    def getActuatorNames(self):
        return [a.name for a in self.actuators]

    def getSensorByName(self, name):
        try:
            idx = self.getSensorNames().index(name)
        except ValueError:
            warnings.warn('sensor ' + name + ' is not in sensor list.')
            return []

        return self.sensors[idx].getValues()

    @property
    def indim(self):
        num = 0

        for a in self.actuators:
            num += a.getNumValues()

        return num

    def getActionLength(self):
        print "getActionLength() is deprecated. use property 'indim' instead."
        return self.indim

    @property
    def outdim(self):
        return len(self.getSensors())

    def performAction(self, action, fast=False):
        """Perform Action

        Applies the given 'action' list of actuations to each actuator defined
        in the system for the next time step. The next time step is then
        calculated.

        Arguments:
            action: A list of actuations for each actuator defined.
            fast: If True, the fast step Open Dynamics Engine algorithm will
                be used. This method is quicker and requires less memory but
                is less accurate. Otherwise the standard step is used.
                (Default: False)
        """
        pointer = 0
        for a in self.actuators:
            val = a.getNumValues()

            a._update(action[pointer:pointer + val])
            pointer += val

        for _ in range(self.stepsPerAction):
            self.step(fast=fast)

        return

    def getXODERoot(self):
        return self.root

    #--- callback functions ---#
    def _near_callback(self, args, geom1, geom2):
        """Near Callback
        
        Callback function for the collide() method.
        This function checks if the given geoms do collide and
        creates contact joints if they do.
        """
        # only check parse list, if objects have name
        if geom1.name != None and geom2.name != None:
            # Preliminary checking, only collide with certain objects
            for p in self.passpairs:
                g1 = False
                g2 = False
                for x in p:
                    g1 = g1 or (geom1.name.find(x) != -1)
                    g2 = g2 or (geom2.name.find(x) != -1)
                if g1 and g2:
                    return()

        # Check if the objects do collide
        contacts = ode.collide(geom1, geom2)

        # Unpack function arguments
        world, contactgroup = args

        # Create contact joints
        for c in contacts:
            p = c.getContactGeomParams()

            # parameters from Niko Wolf
            c.setBounce(0.2)
            c.setBounceVel(0.05) #Set the minimum incoming velocity necessary for bounce
            c.setSoftERP(0.6) #Set the contact normal "softness" parameter
            c.setSoftCFM(0.00005) #Set the contact normal "softness" parameter
            c.setSlip1(0.02) #Set the coefficient of force-dependent-slip (FDS) for friction direction 1
            c.setSlip2(0.02) #Set the coefficient of force-dependent-slip (FDS) for friction direction 2
            c.setMu(self.FricMu) #Set the Coulomb friction coefficient

            j = ode.ContactJoint(world, contactgroup, c)
            j.name = None
            j.attach(geom1.getBody(), geom2.getBody())

        return

    def getCurrentStep(self):
        return self.stepCounter

    @threaded()
    def updateClients(self):
        self.updateDone = False

        if not self.updateLock.acquire(False):
            return

        # build message to send
        message = {}

        for body, geom in self.body_geom:
            item = {}

            item_name = ''

            if body != None:
                item_name = body.name

                if item_name in self.invisible_bodies:
                    continue

                item_pos = body.getPosition()
                item_rot = body.getRotation()

                # Try to find this body from the previous message. See if
                # the item exists and has changed. If it is modified, then
                # the item must be sent. If not, it is implied that the body
                # has not changed.
                if item_name in self.prev_message:
                    # The item has been sent before
                    prev_item = self.prev_message[item_name]

                    # See if the item has been modified
                    if (prev_item['position'] == item_pos and
                            prev_item['rotation'] == item_rot):
                        # The item has not changed. Don't add it to the message
                        continue

                # The item wasn't in the previous message or has been altered.
                # Send the new info to the viewer

                # transform (rotate, translate) body accordingly
                item['position'] = item_pos
                item['rotation'] = item_rot

                if hasattr(body, 'color'):
                    item['color'] = body.color

                # switch different geom objects
                if type(geom) == ode.GeomBox:
                    # cube
                    item['type'] = 'box'
                    item['scale'] = geom.getLengths()
                elif type(geom) == ode.GeomSphere:
                    # sphere
                    item['type'] = 'sphere'
                    item['radius'] = geom.getRadius()

                elif type(geom) == ode.GeomCCylinder:
                    # capped cylinder
                    item['type'] = 'ccylinder'
                    item['radius'] = geom.getParams()[0]
                    item['length'] = geom.getParams()[1] - 2 * item['radius']

                elif type(geom) == ode.GeomCylinder:
                    # solid cylinder
                    item['type'] = 'cylinder'
                    item['radius'] = geom.getParams()[0]
                    item['length'] = geom.getParams()[1]
            else:
                item_name = geom.name

                # See if the item exists in the previous message. If so, the
                # viewer is already aware of it.
                if item_name in self.prev_message:
                    continue

                # no body found, then it must be a plane (we only draw planes)
                if type(geom) == ode.GeomPlane:
                    item['type'] = 'plane'
                    item['normal'] = geom.getParams()[0] # the normal vector to the plane
                    item['distance'] = geom.getParams()[1] # the distance to the origin

            message[item_name] = item

        # Listen for clients
        self.server.listen()
        if self.server.clients > 0:
            # If there are clients send them the new data
            self.server.send(message)

        # Store the message items in their current positions and rotations
        self.prev_message = message

        self.updateLock.release()
        self.updateDone = True

        return

    def step(self, fast=False):
        """Step

        Determine all collisions and step through the environment physics
        using the Open Dynamic Engine.

        Arguments:
            fast: Determines if a quick ODE step should be used instead of the
                standard ODE step function. A fast step is much faster but
                less accurate. (Default: False)

        Return:
            Integer representing the number of total steps taken from the
                start of the simulation.
        """
        # call additional callback functions for all kinds of tasks (e.g. printing)
        self._printfunc()

        # Detect collisions and create contact joints
        self.space.collide((self.world, self.contactgroup), self._near_callback)

        # Simulation step
        if fast:
            # If we are using a quick step, accuracy will decrease but speed
            # and memory use decreases drastically
            self.world.quickStep(float(self.dt))
        else:
            # Step normally
            self.world.step(float(self.dt))

        # Remove all contact joints
        self.contactgroup.empty()

        # update all sensors
        for s in self.sensors:
            s._update()

        # update clients
        if self.render and self.updateDone:
            self.updateClients()

            if self.server.clients > 0 and self.realtime:
                time.sleep(self.dt)

        # increase step counter
        self.stepCounter += 1

        return self.stepCounter

    def _printfunc (self):
        pass

    def specialkeyfunc(self, c, x, y):
        """Derived classes can implement extra functionality here"""
        pass

    #--- helper functions ---#
    def _print_help(self):
        """ prints out the keyboard shortcuts. """
        print "v   -> toggle view with mouse on/off"
        print "s   -> toggle screen capture on/off"
        print "d   -> drop an object"
        print "f   -> lift all objects"
        print "m   -> toggle mouse view (press button to zoom)"
        print "r   -> random torque at all joints"
        print "a/z -> negative/positive torque to all joints"
        print "g   -> print current state"
        print "n   -> reset environment"
        self.specialfunctionDoc()
        print "x,q -> exit program"

    def specialfunctionDoc(self):
        """Derived classes can implement extra functionality here"""
        pass
示例#4
0
    def loadConfig(self, filename, reload=False):
        # parameters are given in (our own brand of) config-file syntax
        self.config = ConfigGrabber(filename, sectionId="<!--odeenvironment parameters", delim=("<", ">"))

        # <passpairs>
        self.passpairs = []
        for passpairstring in self.config.getValue("passpairs")[:]:
            self.passpairs.append(eval(passpairstring))

        if self.verbose:
            print "-------[pass tuples]--------"
            print self.passpairs
            print "----------------------------"

        # <noGravity>
        for obj_name in self.config.getValue('noGravity'):
            try:
                obj = self.root.namedChild(obj_name).getODEObject()
            except IndexError:
                print 'ERROR: Could not find object \'%s\'' % (obj_name)
                sys.exit(1)

            if isinstance(obj, ode.Body):
                obj.setGravityMode(False)
            else:
                print ('ERROR: noGravity configuration is only valid for' +
                       'ODE Body class objects')

        # <invisible>
        for obj_name in self.config.getValue('invisible'):
            try:
                obj = self.root.namedChild(obj_name).getODEObject()
            except IndexError:
                print 'ERROR: Could not find object \'%s\'' % (obj_name)
                sys.exit(1)

            if isinstance(obj, ode.Body):
                self.invisible_bodies.append(obj_name)
            else:
                print ('ERROR: invisible configuration is only valid for' +
                       'ODE Body class objects')

        # <centerOn>
        # set focus of camera to the first object specified in the section, if any
        if self.render:
            try:
                self.centerOn(self.config.getValue("centerOn")[0])
            except IndexError:
                pass

        # <affixToEnvironment>
        for jointName in self.config.getValue("affixToEnvironment")[:]:
            try:
                # find first object with that name
                obj = self.root.namedChild(jointName).getODEObject()
            except IndexError:
                print "ERROR: Could not affix object '" + jointName + "' to environment!"
                sys.exit(1)
            if isinstance(obj, ode.Joint):
                # if it is a joint, use this joint to fix to environment
                obj.attach(obj.getBody(0), ode.environment)
            elif isinstance(obj, ode.Body):
                # if it is a body, create new joint and fix body to environment
                j = ode.FixedJoint(self.world)
                j.attach(obj, ode.environment)
                j.setFixed()

        # <colors>
        for coldefstring in self.config.getValue("colors")[:]:
            # ('name', (0.3,0.4,0.5))
            objname, coldef = eval(coldefstring)
            for (body, _) in self.body_geom:
                if hasattr(body, 'name'):
                    if objname == body.name:
                        body.color = coldef
                        break

        if not reload:
            # add the JointSensor as default
            self.sensors = []
            ## self.addSensor(self._jointSensor)

            # <sensors>
            # expects a list of strings, each of which is the executable command to create a sensor object
            # example: DistToPointSensor('legSensor', (0.0, 0.0, 5.0))
            sens = self.config.getValue("sensors")[:]
            for s in sens:
                try:
                    self.addSensor(eval('sensors.' + s))
                except AttributeError:
                    print dir(sensors)
                    warnings.warn("Sensor name with name " + s + " not found. skipped.")
        else:
            for s in self.sensors:
                s._connect(self)
            for a in self.actuators:
                a._connect(self)

        return
示例#5
0
class ODEEnvironment(Environment):
    """
    Virtual simulation for rigid bodies. Uses ODE as a physics engine and OpenGL as graphics
    interface to simulate and display arbitrary objects. Virtual worlds are defined through
    an XML file in XODE format (see http://tanksoftware.com/xode/). This file can be loaded
    into the world with the "loadXODE(...)" function. Use performAction(...) or step() to advance
    the simulation by one step.
    """

    # objects with names within one tuple can pass each other
    passpairs = []
    # define a verbosity level for selective debug output (0=none)
    verbosity = 0

    def __init__(self, render=True, realtime=True, ip="127.0.0.1", port="21590", buf="16384"):
        """ initializes the virtual world, variables, the frame rate and the callback functions."""
        print "ODEEnvironment -- based on Open Dynamics Engine."

        # initialize base class
        self.render = render
        if self.render:
            self.updateDone = True
            self.updateLock = threading.Lock()
            self.server = UDPServer(ip, port)
        self.realtime = realtime

        # initialize attributes
        self.resetAttributes()

        # initialize the textures dictionary
        self.textures = {}

        # initialize sensor and exclude list
        self.sensors = []
        self.excludesensors = []

        # initialize actuators list
        self.actuators = []

        # A joint group for the contact joints that are generated whenever two bodies collide
        self.contactgroup = ode.JointGroup()

        self.dt = 0.01
        self.FricMu = 8.0
        self.stepsPerAction = 1
        self.stepCounter = 0

    def resetAttributes(self):
        """resets the class attributes to their default values"""
        # initialize root node
        self.root = None

        # A list with (body, geom) tuples
        self.body_geom = []

    def reset(self):
        """resets the model and all its parameters to their original values"""
        self.loadXODE(self._currentXODEfile, reload=True)
        self.stepCounter = 0

    def setGravity(self, g):
        """set the world's gravity constant in negative y-direction"""
        self.world.setGravity((0, -g, 0))

    def _setWorldParameters(self):
        """ sets parameters for ODE world object: gravity, error correction (ERP, default=0.2),
        constraint force mixing (CFM, default=1e-5).  """
        self.world.setGravity((0, -9.81, 0))
        # self.world.setERP(0.2)
        # self.world.setCFM(1e-9)

    def _create_box(self, space, density, lx, ly, lz):
        """Create a box body and its corresponding geom."""
        # Create body and mass
        body = ode.Body(self.world)
        M = ode.Mass()
        M.setBox(density, lx, ly, lz)
        body.setMass(M)
        body.name = None
        # Create a box geom for collision detection
        geom = ode.GeomBox(space, lengths=(lx, ly, lz))
        geom.setBody(body)
        geom.name = None

        return (body, geom)

    def _create_sphere(self, space, density, radius):
        """Create a sphere body and its corresponding geom."""
        # Create body and mass
        body = ode.Body(self.world)
        M = ode.Mass()
        M.setSphere(density, radius)
        body.setMass(M)
        body.name = None

        # Create a sphere geom for collision detection
        geom = ode.GeomSphere(space, radius)
        geom.setBody(body)
        geom.name = None

        return (body, geom)

    def drop_object(self):
        """Drops a random object (box, sphere) into the scene."""
        # choose between boxes and spheres
        if random.uniform() > 0.5:
            (body, geom) = self._create_sphere(self.space, 10, 0.4)
        else:
            (body, geom) = self._create_box(self.space, 10, 0.5, 0.5, 0.5)
        # randomize position slightly
        body.setPosition((random.normal(-6.5, 0.5), 6.0, random.normal(-6.5, 0.5)))
        # body.setPosition( (0.0, 3.0, 0.0) )
        # randomize orientation slightly
        # theta = random.uniform(0,2*pi)
        # ct = cos (theta)
        # st = sin (theta)
        # rotate body and append to (body,geom) tuple list
        # body.setRotation([ct, 0., -st, 0., 1., 0., st, 0., ct])
        self.body_geom.append((body, geom))

    # -- sensor and actuator functions
    def addSensor(self, sensor):
        """ adds a sensor object to the list of sensors """
        if not isinstance(sensor, sensors.Sensor):
            raise TypeError("the given sensor is not an instance of class 'Sensor'.")
        # add sensor to sensors list
        self.sensors.append(sensor)
        # connect sensor and give it the virtual world object
        sensor._connect(self)

    def addActuator(self, actuator):
        """ adds a sensor object to the list of sensors """
        if not isinstance(actuator, actuators.Actuator):
            raise TypeError("the given actuator is not an instance of class 'Actuator'.")
        # add sensor to sensors list
        self.actuators.append(actuator)
        # connect actuator and give it the virtual world object
        actuator._connect(self)

    def addTexture(self, name, texture):
        """ adds a texture to the given ODE object name """
        self.textures[name] = texture

    def centerOn(self, name):
        return
        """ if set, keeps camera to the given ODE object name. """
        try:
            self.getRenderer().setCenterObj(self.root.namedChild(name).getODEObject())
        except KeyError:
            # name not found, unset centerObj
            print "Warning: Cannot center on " + name
            self.centerObj = None

    def loadXODE(self, filename, reload=False):
        """ loads an XODE file (xml format) and parses it. """
        f = file(filename)
        self._currentXODEfile = filename
        p = xode.parser.Parser()
        self.root = p.parseFile(f)
        f.close()
        try:
            # filter all xode "world" objects from root, take only the first one
            world = filter(lambda x: isinstance(x, xode.parser.World), self.root.getChildren())[0]
        except IndexError:
            # malicious format, no world tag found
            print "no <world> tag found in " + filename + ". quitting."
            sys.exit()
        self.world = world.getODEObject()
        self._setWorldParameters()
        try:
            # filter all xode "space" objects from world, take only the first one
            space = filter(lambda x: isinstance(x, xode.parser.Space), world.getChildren())[0]
        except IndexError:
            # malicious format, no space tag found
            print "no <space> tag found in " + filename + ". quitting."
            sys.exit()
        self.space = space.getODEObject()

        # load bodies and geoms for painting
        self.body_geom = []
        self._parseBodies(self.root)

        if self.verbosity > 0:
            print "-------[body/mass list]-----"
            for (body, _) in self.body_geom:
                try:
                    print body.name, body.getMass()
                except AttributeError:
                    print "<Nobody>"

        # now parse the additional parameters at the end of the xode file
        self.loadConfig(filename, reload)

    def loadConfig(self, filename, reload=False):
        # parameters are given in (our own brand of) config-file syntax
        self.config = ConfigGrabber(filename, sectionId="<!--odeenvironment parameters", delim=("<", ">"))

        # <passpairs>
        self.passpairs = []
        for passpairstring in self.config.getValue("passpairs")[:]:
            self.passpairs.append(eval(passpairstring))
        if self.verbosity > 0:
            print "-------[pass tuples]--------"
            print self.passpairs
            print "----------------------------"

        # <centerOn>
        # set focus of camera to the first object specified in the section, if any
        if self.render:
            try:
                self.centerOn(self.config.getValue("centerOn")[0])
            except IndexError:
                pass

        # <affixToEnvironment>
        for jointName in self.config.getValue("affixToEnvironment")[:]:
            try:
                # find first object with that name
                obj = self.root.namedChild(jointName).getODEObject()
            except IndexError:
                print "ERROR: Could not affix object '" + jointName + "' to environment!"
                sys.exit(1)
            if isinstance(obj, ode.Joint):
                # if it is a joint, use this joint to fix to environment
                obj.attach(obj.getBody(0), ode.environment)
            elif isinstance(obj, ode.Body):
                # if it is a body, create new joint and fix body to environment
                j = ode.FixedJoint(self.world)
                j.attach(obj, ode.environment)
                j.setFixed()

        # <colors>
        for coldefstring in self.config.getValue("colors")[:]:
            # ('name', (0.3,0.4,0.5))
            objname, coldef = eval(coldefstring)
            for (body, _) in self.body_geom:
                if hasattr(body, "name"):
                    if objname == body.name:
                        body.color = coldef
                        break

        if not reload:
            # add the JointSensor as default
            self.sensors = []
            ## self.addSensor(self._jointSensor)

            # <sensors>
            # expects a list of strings, each of which is the executable command to create a sensor object
            # example: DistToPointSensor('legSensor', (0.0, 0.0, 5.0))
            sens = self.config.getValue("sensors")[:]
            for s in sens:
                try:
                    self.addSensor(eval("sensors." + s))
                except AttributeError:
                    print dir(sensors)
                    warnings.warn("Sensor name with name " + s + " not found. skipped.")
        else:
            for s in self.sensors:
                s._connect(self)
            for a in self.actuators:
                a._connect(self)

    def _parseBodies(self, node):
        """ parses through the xode tree recursively and finds all bodies and geoms for drawing. """

        # body (with nested geom)
        if isinstance(node, xode.body.Body):
            body = node.getODEObject()
            body.name = node.getName()
            try:
                # filter all xode geom objects and take the first one
                xgeom = filter(lambda x: isinstance(x, xode.geom.Geom), node.getChildren())[0]
            except IndexError:
                return ()  # no geom object found, skip this node
            # get the real ode object
            geom = xgeom.getODEObject()
            # if geom doesn't have own name, use the name of its body
            geom.name = node.getName()
            self.body_geom.append((body, geom))

        # geom on its own without body
        elif isinstance(node, xode.geom.Geom):
            try:
                node.getFirstAncestor(ode.Body)
            except xode.node.AncestorNotFoundError:
                body = None
                geom = node.getODEObject()
                geom.name = node.getName()
                self.body_geom.append((body, geom))

        # special cases for joints: universal, fixed, amotor
        elif isinstance(node, xode.joint.Joint):
            joint = node.getODEObject()

            if type(joint) == ode.UniversalJoint:
                # insert an additional AMotor joint to read the angles from and to add torques
                # amotor = ode.AMotor(self.world)
                # amotor.attach(joint.getBody(0), joint.getBody(1))
                # amotor.setNumAxes(3)
                # amotor.setAxis(0, 0, joint.getAxis2())
                # amotor.setAxis(2, 0, joint.getAxis1())
                # amotor.setMode(ode.AMotorEuler)
                # xode_amotor = xode.joint.Joint(node.getName() + '[amotor]', node.getParent())
                # xode_amotor.setODEObject(amotor)
                # node.getParent().addChild(xode_amotor, None)
                pass
            if type(joint) == ode.AMotor:
                # do the euler angle calculations automatically (ref. ode manual)
                joint.setMode(ode.AMotorEuler)

            if type(joint) == ode.FixedJoint:
                # prevent fixed joints from bouncing to center of first body
                joint.setFixed()

        # recursive call for all child nodes
        for c in node.getChildren():
            self._parseBodies(c)

    def excludeSensors(self, exclist):
        self.excludesensors.extend(exclist)

    def getSensors(self):
        """ returns combined sensor data """
        output = []
        for s in self.sensors:
            if not s.name in self.excludesensors:
                output.extend(s.getValues())
        return asarray(output)

    def getSensorNames(self):
        return [s.name for s in self.sensors]

    def getActuatorNames(self):
        return [a.name for a in self.actuators]

    def getSensorByName(self, name):
        try:
            idx = self.getSensorNames().index(name)
        except ValueError:
            warnings.warn("sensor " + name + " is not in sensor list.")
            return []

        return self.sensors[idx].getValues()

    @property
    def indim(self):
        num = 0
        for a in self.actuators:
            num += a.getNumValues()
        return num

    def getActionLength(self):
        print "getActionLength() is deprecated. use property 'indim' instead."
        return self.indim

    @property
    def outdim(self):
        return len(self.getSensors())

    def performAction(self, action):
        """ sets the values for all actuators combined. """
        pointer = 0
        for a in self.actuators:
            val = a.getNumValues()
            a._update(action[pointer : pointer + val])
            pointer += val

        for _ in range(self.stepsPerAction):
            self.step()

    def getXODERoot(self):
        return self.root

    # --- callback functions ---#
    def _near_callback(self, args, geom1, geom2):
        """Callback function for the collide() method.
        This function checks if the given geoms do collide and
        creates contact joints if they do."""

        # only check parse list, if objects have name
        if geom1.name != None and geom2.name != None:
            # Preliminary checking, only collide with certain objects
            for p in self.passpairs:
                g1 = False
                g2 = False
                for x in p:
                    g1 = g1 or (geom1.name.find(x) != -1)
                    g2 = g2 or (geom2.name.find(x) != -1)
                if g1 and g2:
                    return ()

        # Check if the objects do collide
        contacts = ode.collide(geom1, geom2)

        # Create contact joints
        world, contactgroup = args
        for c in contacts:
            p = c.getContactGeomParams()
            # parameters from Niko Wolf
            c.setBounce(0.2)
            c.setBounceVel(0.05)  # Set the minimum incoming velocity necessary for bounce
            c.setSoftERP(0.6)  # Set the contact normal "softness" parameter
            c.setSoftCFM(0.00005)  # Set the contact normal "softness" parameter
            c.setSlip1(0.02)  # Set the coefficient of force-dependent-slip (FDS) for friction direction 1
            c.setSlip2(0.02)  # Set the coefficient of force-dependent-slip (FDS) for friction direction 2
            c.setMu(self.FricMu)  # Set the Coulomb friction coefficient
            j = ode.ContactJoint(world, contactgroup, c)
            j.name = None
            j.attach(geom1.getBody(), geom2.getBody())

    def getCurrentStep(self):
        return self.stepCounter

    @threaded()
    def updateClients(self):
        self.updateDone = False
        if not self.updateLock.acquire(False):
            return

        # build message to send
        message = []
        for (body, geom) in self.body_geom:
            item = {}
            # real bodies (boxes, spheres, ...)
            if body != None:
                # transform (rotate, translate) body accordingly
                item["position"] = body.getPosition()
                item["rotation"] = body.getRotation()
                if hasattr(body, "color"):
                    item["color"] = body.color

                # switch different geom objects
                if type(geom) == ode.GeomBox:
                    # cube
                    item["type"] = "GeomBox"
                    item["scale"] = geom.getLengths()
                elif type(geom) == ode.GeomSphere:
                    # sphere
                    item["type"] = "GeomSphere"
                    item["radius"] = geom.getRadius()

                elif type(geom) == ode.GeomCCylinder:
                    # capped cylinder
                    item["type"] = "GeomCCylinder"
                    item["radius"] = geom.getParams()[0]
                    item["length"] = geom.getParams()[1] - 2 * item["radius"]

                elif type(geom) == ode.GeomCylinder:
                    # solid cylinder
                    item["type"] = "GeomCylinder"
                    item["radius"] = geom.getParams()[0]
                    item["length"] = geom.getParams()[1]
                else:
                    # TODO: add other geoms here
                    pass

            else:
                # no body found, then it must be a plane (we only draw planes)
                if type(geom) == ode.GeomPlane:
                    # plane
                    item["type"] = "GeomPlane"
                    item["normal"] = geom.getParams()[0]  # the normal vector to the plane
                    item["distance"] = geom.getParams()[1]  # the distance to the origin

            message.append(item)

        # Listen for clients
        self.server.listen()
        if self.server.clients > 0:
            # If there are clients send them the new data
            self.server.send(message)
        time.sleep(0.02)
        self.updateLock.release()
        self.updateDone = True

    def step(self):
        """ Here the ode physics is calculated by one step. """

        # call additional callback functions for all kinds of tasks (e.g. printing)
        self._printfunc()

        # Detect collisions and create contact joints
        self.space.collide((self.world, self.contactgroup), self._near_callback)

        # Simulation step
        self.world.step(float(self.dt))
        # Remove all contact joints
        self.contactgroup.empty()

        # update all sensors
        for s in self.sensors:
            s._update()

        # update clients
        if self.render and self.updateDone:
            self.updateClients()
            if self.server.clients > 0 and self.realtime:
                time.sleep(self.dt)

        # increase step counter
        self.stepCounter += 1
        return self.stepCounter

    def _printfunc(self):
        pass
        # print self.root.namedChild('palm').getODEObject().getPosition()

    def specialkeyfunc(self, c, x, y):
        """Derived classes can implement extra functionality here"""
        pass

    # --- helper functions ---#
    def _print_help(self):
        """ prints out the keyboard shortcuts. """
        print "v   -> toggle view with mouse on/off"
        print "s   -> toggle screen capture on/off"
        print "d   -> drop an object"
        print "f   -> lift all objects"
        print "m   -> toggle mouse view (press button to zoom)"
        print "r   -> random torque at all joints"
        print "a/z -> negative/positive torque to all joints"
        print "g   -> print current state"
        print "n   -> reset environment"
        self.specialfunctionDoc()
        print "x,q -> exit program"

    def specialfunctionDoc(self):
        """Derived classes can implement extra functionality here"""
        pass