modifying an agent

[Naoya Arakawa]

Hello,

I just started to use SigVerse and am trying to modify an agent
file (namely robot_nii_v2.x3d) and encountered an error.

The vision sensor tutorial, on which the modification is based,
worked fine.

So I
* copied robot_nii_v2.x3d to another file (fugu.x3d) in the
  shape directory (the file is not modified),
* copied Robot-nii.xml to another file (fugu.xml) in the xml
  directory,
* modified the file name 'robot_nii_v2.x3d' in the fugu.xml
  to 'fugu.x3d',
* copied WatchWorld.xml to another file (FuguWorld.xml)
  in the MyWorld directory,
* changed the instantiate class name in FuguWorld.xml to
  'fugu.xml' <instanciate class="fugu.xml">,
* started the simulator, and
* got a fatal error (core dump: see below for messages).

What should I do now?

-----
~/MyWorld$ sigserver.sh -w ./FuguWorld.xml
+ '[' -z ']'
+ LD_LIBRARY_PATH=/usr/lib/jvm/java-6-openjdk-i386/jre/lib/i386/server
+ SIGVERSE_X3DPARSER_CONFIG=/home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
+ SIGVERSE_RUNAC=/home/arakawa/sigverse-2.2.0/bin/sigrunac
+ SIGVERSE_DATADIR=/home/arakawa/sigverse-2.2.0/share/sigverse/data
+ export LD_LIBRARY_PATH SIGVERSE_X3DPARSER_CONFIG SIGVERSE_RUNAC SIGVERSE_DATADIR
+ /home/arakawa/sigverse-2.2.0/bin/sigserver -w ./FuguWorld.xml
[SYS]  ///////////////////////////////////////////////////////////
[SYS]  ////////////// World number 0  (port 9000) ///////////////
[SYS]  ///////////////////////////////////////////////////////////
[SYS]  data directory :
[SYS]      [1]  ./
[SYS]      [2]  /home/arakawa/sigverse-2.2.0/share/sigverse/data/xml/
[SYS]      [3]  /home/arakawa/sigverse-2.2.0/share/sigverse/data/shape/
[SYS]  world file : FuguWorld.xml
[SYS]  building entity (entName=(apple_0), className=(Apple), X3DFileName=(/home/arakawa/sigverse-2.2.0/share/sigverse/data/shape/apple.wrl))
read /home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
*** JavaVMOption ***
options[0].optionString = (-Djava.class.path=/home/arakawa/sigverse-2.2.0/share/sigverse/jar/X3DParser.jar:/home/arakawa/sigverse-2.2.0/share/sigverse/jar/xj3d-all.jar)
options[1].optionString = (-Djava.library.path=/tmp)
Java VM start ok
[SYS]  building entity (entName=(kuma_0), className=(Doll_Bear), X3DFileName=(/home/arakawa/sigverse-2.2.0/share/sigverse/data/shape/doll_bear.wrl))
read /home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
[SYS]  building entity (entName=(orange_0), className=(Orange), X3DFileName=(/home/arakawa/sigverse-2.2.0/share/sigverse/data/shape/orange.wrl))
read /home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
[SYS]  building entity (entName=(ki_0), className=(Plant_B), X3DFileName=(/home/arakawa/sigverse-2.2.0/share/sigverse/data/shape/plant_B.wrl))
read /home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
[SYS]  building entity (entName=(robot_000), className=(Robot), X3DFileName=(./fugu.x3d))
read /home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
[SYS]  building entity (entName=(sidetable_0), className=(Sidetable_B), X3DFileName=(/home/arakawa/sigverse-2.2.0/share/sigverse/data/shape/sidetable_B.wrl))
read /home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
[SYS]  building entity (entName=(sofa_0), className=(Sofa_2seater), X3DFileName=(/home/arakawa/sigverse-2.2.0/share/sigverse/data/shape/sofa_2seater.wrl))
read /home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
[SYS]  building entity (entName=(TV_0), className=(TV), X3DFileName=(/home/arakawa/sigverse-2.2.0/share/sigverse/data/shape/TV_on.wrl))
read /home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
[SYS]  building entity (entName=(TVdai_0), className=(TVbass_B), X3DFileName=(/home/arakawa/sigverse-2.2.0/share/sigverse/data/shape/TVbass_B.wrl))
read /home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
[SYS]  building entity (entName=(penguin_0), className=(Toy_D), X3DFileName=(/home/arakawa/sigverse-2.2.0/share/sigverse/data/shape/toy_D.wrl))
read /home/arakawa/sigverse-2.2.0/share/sigverse/etc/X3DParser.cfg
#
# A fatal error has been detected by the Java Runtime Environment:
#
#  SIGSEGV (0xb) at pc=0x08050d9e, pid=5419, tid=3056686848
#
# JRE version: 6.0_27-b27
# Java VM: OpenJDK Server VM (20.0-b12 mixed mode, sharing linux-x86 )
# Derivative: IcedTea6 1.12.6
# Distribution: Ubuntu 13.04, package 6b27-1.12.6-1ubuntu0.13.04.2
# Problematic frame:
# C  [sigserver+0x8d9e]  _ZNKSt9basic_iosIcSt11char_traitsIcEE4failEv@@GLIBCXX_3.4+0x8d9e
#
# An error report file with more information is saved as:
# /home/arakawa/MyWorld/hs_err_pid5419.log
#
# If you would like to submit a bug report, please include
# instructions how to reproduce the bug and visit:
#   https://bugs.launchpad.net/ubuntu/+source/openjdk-6/
# The crash happened outside the Java Virtual Machine in native code.
# See problematic frame for where to report the bug.
#
/home/arakawa/sigverse-2.2.0/bin/sigserver.sh: 14 行:  5419 中止                  (コアダンプ) /home/arakawa/sigverse-2.2.0/bin/sigserver $@

-------
Best,
--
ARAKAWA Naoya

[Naoya Arakawa]

The issue has been solved.

There was a corrupt shape file in the MyWorld directory 

having the same file name with the specified shape file

in the shape directory.

I assume SigVerse first looks for the current directory

and then for the shape directory.

Sorry for the fuss.

-- 

ARAKAWA, Naoya

[Naoya Arakawa]

Another comment or a bug report:

When you modify an x3d file and restart the simulator,

the modification is not reflected on the simulation.

You have to change the x3d file name.

It seems the simulator uses a cache.

* In fact, even though I removed a limb, it kept appearing.

  A phantom limb...

-- 

N.A.

[Tetsunari Inamura]

Arakawa-sensei,

Thank you for your detailed report.

Exactly, the SIGVerse first checks the current directory, before
checking the shape directory.

Our project member tried to replicate the error report, but
we could not face to the same problem.
So, we have been considering about it.

Anyway, thank you for your bug report.
We will prepare more friendly document.

Best regards,
------------------------------------------------
Tetsunari Inamura (Associate Professor)
National Institute of Informatics, JAPAN
The Graduate University for Advanced Studies, JAPAN
TEL : +81-3-4212-2518 FAX : +81-3-4212-2120
URL : http://www.iir.nii.ac.jp/index_e.html
Email : ina...@nii.ac.jp

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