Ce simulateur a été originalement conçu dans le cadre du cours IFT702 (été 2004) pour simuler les tâches de haut niveau d'un robot afin de servir de validateur de plans générés par des planificateurs. Ce simulateur ne simule aucunement la physique d'un robot ni l'incertitude liée aux capteurs.
Caractéristiques
- Écrit en Java
- Simule des actions robotiques de haut niveau
- Validation partielle des plans
- Génération de fichiers problèmes
Téléchargement
Sources
Binaires
Simulateur de conférence scientifique
Lancement du simulateur
Commande :
java -jar SimRobot_ift702.jar
java -jar SimRobot_ift702.jar
État initial
Menu : Simulator | Edit Current Stage
Planificateur standard (Metric-FF)
Exemple de plan:
step 0: GOTO STARTPLACE WP_0
1: GOTO WP_0 FRONTROOM_1
2: GOTO FRONTROOM_1 REGISTRATION
3: REGISTER REGISTRATION
4: GOTO REGISTRATION FRONTROOM_1
5: GOTO FRONTROOM_1 STANDROOM_1
6: WAIT-PRES-SESSION PRESSESSION1
7: MAKE-PRESENTATION STANDROOM_1 PRESSESSION1
8: GOTO STANDROOM_1 FRONTROOM_1
9: GOTO FRONTROOM_1 FRONTROOM_2
10: GOTO FRONTROOM_2 FRONTROOM_3
11: GOTO FRONTROOM_3 P1
12: WAIT-POST-SESSION POSTERSESSION0
13: FIX-POSTER P1 POSTERSESSION0
14: WAIT-PRES-SESSION PRESSESSION3
15: REMOVE-POSTER P1 POSTERSESSION0
16: GOTO P1 WP_1
17: GOTO WP_1 FRONTROOM_2
18: GOTO FRONTROOM_2 STANDROOM_2
19: WAIT-PRES-SESSION PRESSESSION4
20: MAKE-PRESENTATION STANDROOM_2 PRESSESSION4
1: GOTO WP_0 FRONTROOM_1
2: GOTO FRONTROOM_1 REGISTRATION
3: REGISTER REGISTRATION
4: GOTO REGISTRATION FRONTROOM_1
5: GOTO FRONTROOM_1 STANDROOM_1
6: WAIT-PRES-SESSION PRESSESSION1
7: MAKE-PRESENTATION STANDROOM_1 PRESSESSION1
8: GOTO STANDROOM_1 FRONTROOM_1
9: GOTO FRONTROOM_1 FRONTROOM_2
10: GOTO FRONTROOM_2 FRONTROOM_3
11: GOTO FRONTROOM_3 P1
12: WAIT-POST-SESSION POSTERSESSION0
13: FIX-POSTER P1 POSTERSESSION0
14: WAIT-PRES-SESSION PRESSESSION3
15: REMOVE-POSTER P1 POSTERSESSION0
16: GOTO P1 WP_1
17: GOTO WP_1 FRONTROOM_2
18: GOTO FRONTROOM_2 STANDROOM_2
19: WAIT-PRES-SESSION PRESSESSION4
20: MAKE-PRESENTATION STANDROOM_2 PRESSESSION4
Planificateur ConfPlan
Menu : Execution | Exécuter un plan ConfPlan
Exemple de plan :
0. Goto(StandRoom_2) MaxInterval=[29700,34200] MinInterval=[34048, 29852]
1. ShowPres(StandRoom_2, 34200, 1200) MaxInterval=[34200,35400] MinInterval=[34200, 35400]
2. Goto(CoffeeRoom_Charger) MaxInterval=[35400,35586] MinInterval=[35418, 35568]
3. Recharge() MaxInterval=[35568,39186] MinInterval=[35586, 39168]
4. Goto(P3) MaxInterval=[39168,39264] MinInterval=[39186, 39246]
5. FixPoster(P3, 39246, 39384) MaxInterval=[39246,39384] MinInterval=[39264, 39366]
6. Goto(P14) MaxInterval=[39366,39480] MinInterval=[39384, 39462]
7. FixPoster(P14, 39462, 39600) MaxInterval=[39462,39600] MinInterval=[39480, 39582]
8. Goto(P17) MaxInterval=[39582,42198] MinInterval=[42176, 39604]
9. TakePicture(P17) MaxInterval=[39604,42498] MinInterval=[42198, 39904]
10. Goto(P12) MaxInterval=[39904,42530] MinInterval=[42498, 39936]
11. TakePicture(P12) MaxInterval=[39936,42830] MinInterval=[42530, 40236]
12. Goto(P5) MaxInterval=[40236,42900] MinInterval=[42830, 40306]
13. TakePicture(P5) MaxInterval=[40306,43200] MinInterval=[42900, 40606]
14. Goto(P3) MaxInterval=[40606,46464] MinInterval=[46452, 40618]
15. RemovePoster(P3, 43200, 46584) MaxInterval=[43200,46584] MinInterval=[46464, 43320]
16. Goto(P14) MaxInterval=[43320,46680] MinInterval=[46584, 43416]
17. RemovePoster(P14, 43416, 46800) MaxInterval=[43416,46800] MinInterval=[46680, 43536]
18. Goto(CoffeeRoom_Charger) MaxInterval=[43536,49624] MinInterval=[49518, 43642]
19. Recharge() MaxInterval=[43642,53224] MinInterval=[49624, 47242]
20. Goto(P24) MaxInterval=[47242,53272] MinInterval=[53224, 47290]
21. TakePicture(P24) MaxInterval=[50400,53572] MinInterval=[53272, 50700]
22. Goto(P16) MaxInterval=[50700,53626] MinInterval=[53572, 50754]
23. TakePicture(P16) MaxInterval=[50754,53926] MinInterval=[53626, 51054]
24. Goto(P7) MaxInterval=[51054,54000] MinInterval=[53926, 51128]
25. TakePicture(P7) MaxInterval=[51128,54000] MinInterval=[54000, 51428]
Exemple de plan :
0. Goto(StandRoom_2) MaxInterval=[29700,34200] MinInterval=[34048, 29852]
1. ShowPres(StandRoom_2, 34200, 1200) MaxInterval=[34200,35400] MinInterval=[34200, 35400]
2. Goto(CoffeeRoom_Charger) MaxInterval=[35400,35586] MinInterval=[35418, 35568]
3. Recharge() MaxInterval=[35568,39186] MinInterval=[35586, 39168]
4. Goto(P3) MaxInterval=[39168,39264] MinInterval=[39186, 39246]
5. FixPoster(P3, 39246, 39384) MaxInterval=[39246,39384] MinInterval=[39264, 39366]
6. Goto(P14) MaxInterval=[39366,39480] MinInterval=[39384, 39462]
7. FixPoster(P14, 39462, 39600) MaxInterval=[39462,39600] MinInterval=[39480, 39582]
8. Goto(P17) MaxInterval=[39582,42198] MinInterval=[42176, 39604]
9. TakePicture(P17) MaxInterval=[39604,42498] MinInterval=[42198, 39904]
10. Goto(P12) MaxInterval=[39904,42530] MinInterval=[42498, 39936]
11. TakePicture(P12) MaxInterval=[39936,42830] MinInterval=[42530, 40236]
12. Goto(P5) MaxInterval=[40236,42900] MinInterval=[42830, 40306]
13. TakePicture(P5) MaxInterval=[40306,43200] MinInterval=[42900, 40606]
14. Goto(P3) MaxInterval=[40606,46464] MinInterval=[46452, 40618]
15. RemovePoster(P3, 43200, 46584) MaxInterval=[43200,46584] MinInterval=[46464, 43320]
16. Goto(P14) MaxInterval=[43320,46680] MinInterval=[46584, 43416]
17. RemovePoster(P14, 43416, 46800) MaxInterval=[43416,46800] MinInterval=[46680, 43536]
18. Goto(CoffeeRoom_Charger) MaxInterval=[43536,49624] MinInterval=[49518, 43642]
19. Recharge() MaxInterval=[43642,53224] MinInterval=[49624, 47242]
20. Goto(P24) MaxInterval=[47242,53272] MinInterval=[53224, 47290]
21. TakePicture(P24) MaxInterval=[50400,53572] MinInterval=[53272, 50700]
22. Goto(P16) MaxInterval=[50700,53626] MinInterval=[53572, 50754]
23. TakePicture(P16) MaxInterval=[50754,53926] MinInterval=[53626, 51054]
24. Goto(P7) MaxInterval=[51054,54000] MinInterval=[53926, 51128]
25. TakePicture(P7) MaxInterval=[51128,54000] MinInterval=[54000, 51428]
Simulateur de déplacement de pièces ("Goto-Room")
Lancement du simulateur
Syntaxe :
java -cp SimRobot_ift702.jar GotoRoomSim [state.txt [plan.txt]]
Exemple de commande :
java -cp SimRobot_ift702.jar GotoRoomSim gr_state.txt gr_plan.txt
java -cp SimRobot_ift702.jar GotoRoomSim [state.txt [plan.txt]]
Exemple de commande :
java -cp SimRobot_ift702.jar GotoRoomSim gr_state.txt gr_plan.txt
© Éric Beaudry, 2006. Tous droits réservés. ¦ webdesign par Émilie Viau
