3D/simspark/agentspark

3D/simspark

とりあえず動かす †

soccerbotbehavior.cppを以下のように変更。接続後、右手を上げる。

***************
*** 220,224 ****
  //    }
  
! #if 0
      switch(state)
      {
--- 220,224 ----
  //    }
  
! #if 1
      switch(state)
      {
***************
*** 284,288 ****
  //    cout << "---" << endl;
  
!     //return ss.str();
!     return string("");
  }
--- 284,288 ----
  //    cout << "---" << endl;
  
!     return ss.str();
!     //return string("");
  }

複数のエージェントを接続する †

普通に複数繋げれば接続されるらしい。ただし初期位置が同じなので、重なってしまうかも。

初期位置の変更方法 †

メーリングリストに流れてた記事。(動作未確認)

From: Jan Murray 
日付		2007/03/02 7:44	 
件名		Re: [Sserver-three-d] How can I load more agents in simspark.

Hi Milad,

Ashkan already wrote that the agents are placed on the same spot.
Usually you should notice that, because the agents collide, so they
start to move uncontrollably and the simulator can slow down considerably. 

To see if this is your problem, please try the following. 
1. start simspark
2. start first agentspark
3. edit app/simspark/rsg/agent/soccerbot.rsg to change the agent position:

    (define $TorsoPosX 5)
    (define $TorsoPosY 5)
    (define $TorsoPosZ 3.5)

to (for example)

    (define $TorsoPosX 3)
    (define $TorsoPosY 0)
    (define $TorsoPosZ 3.5) 

4. start second agentspark

Do you see two humanoids now?

関節の情報を得るには? †

CVSにある最新のsoccerbot.rsgを利用する。 ただし他にも色々新しくなってるのでサーバごとCVSを追いかけた方がいいかもしれない。

メッセージはこんな感じ

(time (now 24.7004) (step 0.02))
(Vision (Flag_1_l (pol nan nan nan))
        (Flag_2_l (pol nan nan nan))
	 (Flag_1_r (pol nan nan nan))
	 (Flag_2_r (pol nan nan nan))
	 (Goal_1_l (pol nan nan nan))
	 (Goal_2_l (pol nan nan nan))
	 (Goal_1_r (pol nan nan nan))
	 (Goal_2_r (pol nan nan nan))
	 (Ball (pol nan nan nan))
	 ( (id 0) (pol nan nan nan)))
(UJ (name larm_joint_1_2) (axis1 -0) (rate1 nan) (axis2 0) (rate2 nan))
(UJ (name rarm_joint_1_2) (axis1 -0) (rate1 nan) (axis2 0) (rate2 nan))
(HJ (name larm_joint_3) (axis -0) (rate nan))
(HJ (name rarm_joint_3) (axis -0) (rate nan))
(HJ (name larm_joint_4) (axis -0) (rate nan))
(HJ (name rarm_joint_4) (axis -0) (rate nan))
(HJ (name lleg_joint_1) (axis -0) (rate nan))
(HJ (name rleg_joint_1) (axis -0) (rate nan))
(UJ (name lleg_joint_2_3) (axis1 -0) (rate1 nan) (axis2 0) (rate2 nan))
(UJ (name rleg_joint_2_3) (axis1 -0) (rate1 nan) (axis2 0) (rate2 nan))
(HJ (name lleg_joint_4) (axis -0) (rate nan))
(HJ (name rleg_joint_4) (axis -0) (rate nan))
(UJ (name lleg_joint_5_6) (axis1 -0) (rate1 nan) (axis2 0) (rate2 nan))
(UJ (name rleg_joint_5_6) (axis1 -0) (rate1 nan) (axis2 0) (rate2 nan))