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)
