wiki:UsingAsapRealizerWithIpaaca

Version 13 (modified by welberge, 6 years ago) (diff)

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Using AsapRealizer with Ipaaca

AsapRealizer can be connected to Billie's rendering environment in Ogre through Ipaaca, can execute Ipaaca BML messages and can provide BML feedback using Ipaaca messages.

Connecting Ipaaca to the Ogre rendering environment

  1. Install AsapRealizer as described in the QuickStart
  2. Clone the soagents and billie from /homes/hvanwelbergen/git_pool:
    git clone /homes/hvanwelbergen/git_pool/soagents
    git clone /homes/hvanwelbergen/git_pool/billie
    

TODO: other requirements rsb, ipaaca, ace2. I can't get these to build in a none-default dir...

Submitting and receiving BML through Ipaaca

  1. Install AsapRealizer as described in the QuickStart
  2. Setup a VirtualHumanLoader xml file that uses an IpaacaToBMLRealizerAdapterLoader. An example configuration is provided in AsapDemo/AsapRealizerDemo/java/resource/asaparmandiaipaacaport.xml. To set up/configure your own use:
    <AsapVirtualHuman>
      <Loader id="realizer" loader="asap.realizerembodiments.AsapRealizerEmbodiment">
        ...
        <PipeLoader id="pipe" loader="asap.ipaacaadapters.loader.IpaacaToBMLRealizerAdapterLoader"/>
      </Loader>
      ...
    
  3. Start spread:
    spread -n localhost
    
  4. Run the AsapRealizerDemo with the newly defined xml
    ant run -Drun.argline="asaparmandiaipaacaport.xml"
    
  5. The realizer is now ready to receive and submit Ipaaca BML messages. The demo programs in java/src/asap/realizerdemo/AsapRealizerPortToIpaacaDemo.java and python/src/asap_realizerdemo/RealizerPortToIpaacaDemo.py show how to submit BML and receive BML feedback in java and python respectively.
  6. To start the python demo; in the python subdir:
    ant resolve
    ant main #select asap_realizerdemo/RealizerPortToIpaacaDemo.py
    ant run
    
  7. To start the java demo; in the java subdir:
    ant main #select asap.realizerdemo.AsapRealizerPortToIpaacaDemo
    ant run