Backup of Humanoid agent operations(No. 3)

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- 1 (2012-01-24 (Tue) 19:59:11)
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- 3 (2013-12-28 (Sat) 03:30:54)
- 4 (2014-01-13 (Mon) 02:34:10)
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Operations on the movement of agents

Operations on the movement of agents †

Describes how to operate the joints of agents or anthropomorphic robots.

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Operations of joints of robots †

Here is the sample code to change the angle of joint of human hand.

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Creating the Controller †

NewWorld is the directory in which we create AgentController.cpp

$ cd ~/sigverse-<version>/bin/NewWorld
$ emacs AgentController.cpp

AgentController.cpp

Sample at the start of the simulation my->setJointAngle is used to set the angle to 45 degree for left arm of robot.

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Compiling †

Lets change the Makefile.

$ emacs Makefile

#The object is modified to incorporate the changes due to new agent controller
OBJS = AgentController.so

Makefile

#The location of the source of header files for SIGVerse
SIG_SRC  = /home/<username>/sigverse-<version>/include/sigverse

#The object 
OBJS     = AgentController.so 

all: $(OBJS)

#Compile
./%.so: ./%.cpp
        g++ -DCONTROLLER -DNDEBUG -DUSE_ODE -DdDOUBLE -I$(SIG_SRC) -I$(SIG_SRC)/comm/controller  -fPIC -shared -o $@   $<

Compile

$ make

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Creating world files †

Then create a world file

$ cd ~/sigverse-<version>/bin
$ ln -s ../share/sigverse/data/xml/ xml

This glues the link to the directory where the xml file is located

$ emacs xml/AgentWorld.xml

AgentWorld.xml

The file being read is Man-nii.xml, dynamics is set to false.

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Starting Sigverse †

So let's start SIGVerse.

$ ./sigserver.sh -w AgentWorld.xml -p 9001

Upon connecting to the SimServer in SIGViewer and starting the simulation , the agent's left arm expands with an increased angle of 45 degree .

We use setJointAngle to set the angle of "LARM_JOINT2" to 45 degree."LARM_JOINT2" is the name of the joint defined for rotation of the left shoulder on Z axis.

Joint names of these files are defined in sigverse-x3d <version> / share / sigverse / data / shape / (nii_man.x3d) .

Joint names and join definitions of the sample model described in current Agentworld.xml file are read from file Man_nii.xml which in turn is reading the file nii_man.x3d describing the shape of a human-type agent.

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Agent Attributes †

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Checking Attributes †

Click the Attributes tab . You can check the attributes of the agent as a whole and also part attributes by clicking on the part of agent model . The general attributes are location of the agent in SIGViewer (x, y, z), the orientation of the agent (qw, qx, qy, qz), the position of the viewpoint (epx, epy, epz) etc . The value of these attributes are set in the xml file.

#ref(): File not found: "attr_1.jpg" at page "Humanoid agent operations"

Man-nii humanoid agent is an object that inherits from the Agent class. The default value of the Agent class attribute is set in Agent.xml. Let's see the file Agent.xml

$ less xml/Agent.xml

Furthermore, Agent class has inherited the Entity class. Entity class is the class of objects that do not behave autonomously.

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Agents, basic attributes of an entity †

Entities introduces the basic properties of the agent.

Attribute of an entity

Attribute Name	Meaning	Remarks
x, y, z	position of the entity	global coordinates. green arrow from the origin for x-axis, yellow arrow for y-axis red arrow is shown for z-axis
fx, fy, fz	force on the entity
vx, vy, vz	speed of the entity
qw, qx, qy, qz	direction of the entity	Quaternion notation
scalex, scaley, scalez	the size of the entity

Agent attributes

Attribute Name	Meaning	Remarks
vpx, vpy, vpz	position of the viewpoint of the agent (non-humanoid)	agents coordinate origin is the position of the agent
vvx, vvy, vvz	gaze direction (non-humanoid)	vector notation
elnk1, elnk2, ... elnk9	viewpoint (camera) to establish a link name (humanoid only)	elnk1 HEAD_LINK are installed by default.
epx1, epy1, epz1, ... epx9, epy9, epz9	viewpoint (camera) position (humanoid only)	origin is specified by the position of the link elnk
evx1, evy1, evz1, ... evx9, evy9, evz9	viewpoint (camera) direction (humanoid only)
FOV	Agent viewing angle (height)
voiceReachRadius	Agent voices reach

These attributes can be set in all the world files.

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Operating agents with a Command †

Last time we introduced the sample code that calls function onAction to raise the hands of agent hands regularly. The following provides sample code to bow to the agent by sending a message from SIGViewer.

Introducing changes to AgentController.cpp

$ cd NewWorld
$ emacs AgentController.cpp

AgetnController.cpp

#include <string>  //include string header files
#include "Controller.h"
#include "Logger.h"
#include "ControllerEvent.h"

#define PI 3.141592
#define DEG2RAD(DEG) ( (PI) * (DEG) / 180.0 )

using namespace std;  //Using namespace definitions

class AgentController : public Controller
{
public:
  double onAction(ActionEvent &evt);

// Declare the use of onRecvMessage function when it receives a message

void onRecvMessage(RecvMessageEvent &evt);
};

double AgentController::onAction(ActionEvent &evt)
{
  try {
    SimObj *my = getObj(myname());
    if (!my->dynamics()) {

// Lower down the left.
      my->setJointAngle("LARM_JOINT2", DEG2RAD(-90));

// Lower down the right
     my->setJointAngle("RARM_JOINT2", DEG2RAD(90));

}
  } catch(SimObj::Exception &) {
    ;
  }
  return 5.0;
}

void AgentController::onRecvMessage(RecvMessageEvent &evt)
{

//get an handle to agent
  SimObj *my = getObj(myname());

//string message is received 
  string value(evt.getString(0)); 
  if (value =="Hello"){

//bend the hip joint to 45°
    my->setJointAngle("WAIST_JOINT1", DEG2RAD(45));
  }

}

extern "C"  Controller * createController ()
{
  return new AgentController;
}

agent puts its hands down when onAction function is called , onRecvMessage function is to be called when a message is received. The message "Hello" is passed which triggers the function that makes the agent to the bow.

Compile.

$ make

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Run †

Edit the attributes of the Agent. So let's run.

$ cd ..
$ ./sigserver.sh -w AgentWorld.xml -p 9001

Connect with SIGViewer, and start the simulation by clicking the send button, lower left and right hands go down as the funcion onAction is called first.