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 __HOLE__:
                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)
dataset/ETHPy150Open pybrain/pybrain/pybrain/rl/environments/ode/environment.py/ODEEnvironment.loadConfig