Note: This help refers to the trunk and future releases, and is not included with the latest round of Soar releases (9.0.1, 9.1.1, 9.2.0).

The Room environment is included in the soar-java/soar-soar2d folder in the Soar suite.

Configuration

See configuration help on the Soar2D help page. Here is an example:

general.game = "room";
general.map = "config/maps/room/default.txt";
players.active_players = [ "robot" ];
players.robot.productions = "agents/room/simple-robot.soar";

I/O

Strikeout denotes not implemented.

Input link specification

Attributes in italics are identifier WMEs, bold are leaves or possible leaves.

• time
• seconds (int) seconds
• microseconds (int) (0..1000000) microsecond fraction of current second

• self
• name (string) agent name
• area (int) unique identifying number for area/room
• carry information about carried object, not present if nothing carried
• id (int) unique identifying number for object
• type (string) type of object (only block, for now)
• pose
• x (float) current x in meters
• y (float) current y in meters
• z (float) (0) current z in meters
• yaw (float or int) (-180..180)
• x-velocity (float) meters per second
• y-velocity (float) meters per second
• z-velocity (float) meters per second
• yaw-velocity (float) degrees per second
• collision
• x (string) (true, false) colliding on x-axis
• y (string) (true, false) colliding on y-axis
• waypoints
• waypoint one for each registered, enabled waypoint
• id (int, float, or string) user-defined unique identifier in user-defined type
• x (float) x position in meters
• y (float) y position in meters
• z (float) (0) z position in meters
• distance (float) (0..) distance to waypoint in meters
• yaw (float or int) what yaw to turn to to face the waypoint
• relative-bearing (float or int) if positive then turn left
• abs-relative-bearing (float or int) (0..) absolute value of relative bearing
• received-messages
• message one for each received message
• id (int) unique identifying number for message
• from (string) source of message (agent name)
• first (id) starts linked list
• word (string)
• next (identifier or string "nil" to end)
• word (string)
• next (identifier or string "nil" to end)
• malfunction (string) (true, false) true indicates systems malfunction

• area-description
• id (int) unique identifying number for area/room
• type (string) (door, room) type of room
• gateway
• id (int) unique identifying number for gateway
• direction (string) (north, east, south, west) which wall the gateway is on
• to (room id on one side of gateway)
• to (room id on other side of gateway)
• x (float) x position in meters
• y (float) y position in meters
• z (float) (0) z position in meters
• distance (float) (0..) distance in meters
• yaw (float or int) what yaw to turn to to face it
• relative-bearing (float or int) if positive then turn left
• abs-relative-bearing (float or int) (0..) absolute value of relative bearing
• wall
• id (int) unique identifying number for wall
• direction (string) (north, east, south, west) which wall it is on
• x (float) x position in meters
• y (float) y position in meters
• z (float) (0) z position in meters
• distance (float) (0..) distance in meters
• yaw (float or int) what yaw to turn to to face it
• relative-bearing (float or int) if positive then turn left
• abs-relative-bearing (float or int) (0..) absolute value of relative bearing

• object
• type (string) (block, brick, ball, player) type of object
• id (int) unique identifying number for objects
• name (string) unique agent name if other player
• visible (string) (yes, no) object stays on input link briefly after it is not
• x (float) x position in meters
• y (float) y position in meters
• z (float) (0) z position in meters
• distance (float) (0..) distance in meters
• yaw (float or int) what yaw to turn to to face it
• relative-bearing (float or int) if positive then turn left
• abs-relative-bearing (float or int) (0..) absolute value of relative bearing
• color (string) (red orange yellow green blue gray violet) object color
• height (string) object height
• smell (string) object smell
• shape (string) object shape
• weight (float) object weight in kg, only for non-player types
• diffusible (string) (true, false) object can be diffused
• diffuse-wire (string) (red, green, blue) which wire diffuses it
• diffused (string) (true, false) object (diffusible only) is diffused

• configuration
• yaw-format (string) (float, int)
• offset-x (float)
• offset-y (float)
• offset-z (float)

Output link specification

A note about status error: most commands that return with status error will have an error message attached for debugging. Example, <m> below could contain set-velocity: Unable to parse linear-velocity

<s> ^io.output-link.set-velocity <sv>
<sv> ^status error ^message <m>

Drive Commands

Only one of the drive commands can be issued at a time. If more than one command is issued, the system arbitrarily picks one unless one of them is estop, which overrides all other drive commands.

All parameters for the command must be on the same identifier of the command. For example:

<s> ^io.output-link.set-velocity <sv>
<sv> ^linear-velocity 1. ^angular velocity 1.

• motor
• left (float) (-1.0..1.0) percent throttle
• right (float) (-1.0..1.0) percent throttle
• status (string) (accepted, executing, complete, error)

• set-velocity
• linear-velocity (float) (-0.5..0.5) meters per second forward or reverse
• angular-velocity (float) rotation, degrees per second, positive is left turn
• status (string) (accepted, executing, complete, error)

• set-linear-velocity
• linear-velocity (float) (-0.5..0.5) meters per second forward or reverse
• status (string) (accepted, executing, complete, error)

• set-angular-velocity
• angular-velocity (float) rotation, degrees per second, positive is left turn
• status (string) (accepted, executing, complete, error)

• set-heading
• yaw (float or int) (-180..180) target yaw (modded, values outside this bounds OK)
• status (string) (accepted, executing, interrupted, complete, error)

• set-heading-linear
• yaw (float or int) (-180..180) target yaw (modded, values outside this bounds OK)
• linear-velocity (float) (-0.5..0.5) meters per second forward or reverse
• status (string) (accepted, executing, interrupted, complete, error)

• stop graceful stop
• status (string) (accepted, executing, interrupted, complete, error)

• estop emergency stop
• status (string) (accepted, complete)

Effector Commands

• get-object pick up an object
• id (int) target object id
• status (string) (accepted, complete, error)

• drop-object drop a carried object
• id (int) target object id
• status (string) (accepted, complete, error)

• diffuse-object engage in a domain-specific diffuse task
• id (int) target object id
• status (string) (accepted, complete, error)

• diffuse-object-by-wire engage in a domain-specific diffuse task
• id (int) target object id
• color (string) (red, green, blue) what wire to cut
• status (string) (accepted, complete, error)

Waypoint Commands

• add-waypoint enter a waypoint into the system, enabled
• id (int, float, string) user-defined identifier string, type will be replicated on input-link
• x (float) x position in meters
• y (float) y position in meters
• status (string) (accepted, complete, error)

• remove-waypoint remove the waypoint from the system
• id (int, float, string)
• status (string) (accepted, complete, error)

• enable-waypoint enable a previously disabled waypoint
• id (int, float, string)
• status (string) (accepted, complete, error)

• disable-waypoint disable an enabled waypoint
• id (int, float, string)
• status (string) (accepted, complete, error)

Communication Commands

Messages sent will appear on the input link after a one-decision-cycle delay.

The destination parameter for send-message is optional. If omitted, message will be broadcast to all listeners, including the sending agent.

The say destination is not currently implemented on windows platforms.

The remove-message command uses the message id number, available at io.input-link.self.received-messages.message.id

• send-message
• destination (string) target of message or omit to broadcast to all available listeners
• first
• word (string0)
• next (identifier or string "nil" to end)
• word (string0)
• next (identifier or string "nil" to end)
• status (string) (accepted, complete, error)

• remove-message remove a specific message from the received-messages list
• id (string)
• status (string) (accepted, complete, error)

• clear-messages remove all messages from received-messages list
• status (string) (accepted, complete)

Other Commands

• configure set environment configuration parameters
• yaw-format (string) (float, int) use integer data types for yaw
• offset-x (float) relocate origin
• offset-y (float) relocate origin
• status (string) (accepted, complete, error)