Backup of Humanoid agent operations(No. 6)

The file specifies Man-nii.xml as humanoid avatar. Dynamics mode is set to false to specify concrete joint angle value to change the posture of the avatar. Please be careful that you cannot specify such concrete joint angle values in dynamics On mode.

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Starting SIGVerse †

So let's start SIGVerse.

$ ./sigserver.sh -w AgentWorld.xml

Connect to the SIGServer and push the "START" button to start the simulator. You can see that the agent holds the left arm to 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.

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 †

In the above example, a function onAction was used to raise the hands of the agent. Next sample code uses message sending function in order to control the avatar from SIGViewer.

Let's create another controller file named AgentController2.cpp

$ emacs AgentController2.cpp

AgetnController2.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[deg]
    my->setJointAngle("WAIST_JOINT1", DEG2RAD(45));
  }

}

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

agent puts its hands down when onAction function is called , The onRecvMessage function will be called when a message is sent to the controller. In this example, the agent will bows when a message "Hello" comes.

Compile the new controller file.

$ ./sigmake.sh AgentController2.cpp

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World file †

You should modify the world file to use the new controller file.

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Execute the server †

Input the following command to execute the SIGVerse server.

$ ./sigserver.sh -w AgentWorld.xml

Start the SIGViewer, and connect to the SIGServer. When you push the start button, the avatar agent down its both hands with onAction function.

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Sending a message †

Click the "Message" button on the right bottom of the SIGViewer. A new subwindow "SendMessage" will appear. Select the target agent "man_000" in the TargetEntity field. Next, input a message "Hello" in the following Message: field as shown in the figure.