1. In your project directory, type "./tekkotsu-CREATE" (or "./tekkotsu-CHIARA" or whatever corresponds to the type of robot you are using) and hit return.

2. Tekkotsu will print out a bunch of start-up information. When this ends. hit return again and you'll see the Tekkotsu command prompt, "HAL:Create>". (HAL stands for Hardware Abstraction Layer.) You don't need to know any commands to make basic use of the simulator, so we won't go into these commands now.

3. Start up the ControllerGUI. For a hostname, give it "localhost", or the name or IP address of the computer on which you're running the simulator.

4. In the ControllerGUI, go to Root Control > Mode Switch, and start the Hello World behavior. You will see a bunch of lines print out on the Tekkotsu console, showing output that was sent to cout, serr, and several other streams. On the AIBO you would have to telnet to port 59000 to see these messages, but with the simulator this is not necessary.

5. The full Tekkotsu functionality is available to you through the ControllerGUI, but not everything works the same as on the robot. For example, you can go to Root Control > Status Reports > Battery Check, and a battery status report will be printed in the Tekkotsu console window, but all the values will be zero. The simulator doesn't bother simulating the robot's power limitations.

6. The cleanest way to exit Tekkotsu is to type ^C (control-C). There are other ways to exit, such as by typing "quit" or "exit". or ^D (control-D), but depending on what Tekkotsu is doing at the time, these can cause a lot of error messages to be displayed.

7. If the simulator freezes or has a messy crash, and you can't use ^D or ^C to exit, type the suspend character, ^Z, and then type "kill -9 %" to kill the job.

Note: sometimes when the simulator exits abnormally, some of its processes are left lying around. If that happens, the next time you run the simulator you may experience interference from these old processes, e.g., ControllerGUI may be unable to connect. Use the command "ps -a" to check which processes are running, and do "killall -9 tekkotsu-CREATE" to kill any lingering ones.

1. You'll want to record your images at full resolution, so begin by starting up the ControllerGUI and double clicking on the "Take Snapshots" script. (See the section on Collecting images in the Color Image Segmentation chapter for details on what this script does.)

2. Start up the Raw Cam viewer, or kill it and restart it if it was already running when you ran the Take Snapshots script. Point the robot's camera at something interesting.

3. Make a temporary directory to hold the image and posture files.

4. In the Raw Cam viewer, Click on "Freeze Frame" and then "Save Image". Check the box that says "Save joint positions as well". Then specify a filename in the temporary directory you created, such as pic01.jpg. Be sure to store your data in RGB format if using JPEG files, or YUV format if using PNG files.

5. Click "Unfreeze", and repeat the steps above to take as many additional pictures as you like.

6. When you've finished collecting data, look in the temporary directory. You should see a series of .JPG or .PNG files, and a parallel series of .POS files. These posture files are human readable, but they use a more compact format than the ones created by the Posture Editor.

1. Move a single JPEG or PNG file and its associated posture file into the ~/project/logged directory. Make sure there is only one file of each type in the directory.

2. Start up Tekkotsu in simulator mode by typing:

      ./tekkotsu-CREATE -c sim.plist
   

3. Connect to the simulator with the ControllerGUI.

4. Click on the Raw Cam or Seg Cam viewer and the image should pop up on your screen.

5. In the ControllerGUI, go to Root Control > File Access > Posture Editor, and you will see the joint positions that were loaded from the posture file.

1. Move several of the image and posture files you recorded previously into the images/ subdirectory.

2. Invoke the simulator with the following command line switches. freeze tells the simulator not to move to the next image until you give the advance command. Setting Vision.Verbose=true causes the simulator to announce each image file as it's loaded.

      ./tekkotsu-Create -c sim.plist freeze Vision.Verbose=true

   Note: you can also take these actions from the simulator's command line, using the commands freeze and set Vision.Verbose=true. However, if the simulator starts up in un-frozen mode, the image and posture files will already be out of sync.

3. Start up the ControllerGUI and turn on the Raw Cam viewer. Type status to see which files the simulator will load next.

4. Type advance in the simulator and you should see the first camera image. (Alternatively, go to Root Control > Vision Pipeline in the ControllerGUI and double click on "Advance Frame".) Each time you type advance or double click on "Advance Frame", the image and sensor information should advance again, and eventually loop back to the beginning of the sequence.

#include "Behaviors/StateMachine.h"

$nodeclass DstBehavior : StateNode : counter(0) {
  int counter;

  virtual void doStart() {
    erouter->addListener(this,EventBase::buttonEGID,GreenButOffset,EventBase::activateETID);
  }

  virtual void doEvent() {
    advance_the_counter();
    char filename[30];
    sprintf(filename,"numbers/%d.wav", counter);
    sndman->PlayFile(filename);
  }

  void advance_the_counter() {
    if ( ++counter > 9 )
      counter = 0;
  }

}

1. Compile the demonstration program above, and start the simulator.

2. Connect to the simulator with ControllerGUI, and activate DstBehavior.

3. In the ControllerGUI's "Send Input" window, type the following:

      !post buttonEGID GreenBut A
   

4. The simulator should display the message "Playing numbers/1.wav". (The simulator does not yet have sound support, so it won't actually play the audio files.)

5. In the ControllerGUI's "Send Input" window, press the up-arrow key to recall the previous command, and hit Return.

6. The simulator should display the message "Playing numbers/2.wav".