How to install Java 3d robot simulator

Simbad官网：http://simbad.sourceforge.net/

What is Simbad ?

Simbad is a Java 3d robot simulator for scientific and educationnal purposes. It is mainly dedicated to researchers/programmers who want a simple basis for studying Situated Artificial Intelligence, Machine Learning, and more generally AI algorithms, in the context of Autonomous Robotics and Autonomous Agents. It is not intented to provide a real world simulation and is kept voluntarily readable and simple.

Simbad enables programmers to write their own robot controller, modify the environment and use the available sensors. Don't think of it as a finite product but merely as an opened framework to test your own ideas.

The Simbad project is hosted at SourceForge. Simbad simulator is free for you to use and modify under the conditions of the GNU General Public Licence.

Main features

Simbad provides the following features:

• 3D visualisation and sensing.
• Single or Multi-robots simulation.
• Vison Sensors : Color monoscopic camera.
• Range Sensors : sonars and IR.
• Contact Sensor : bumpers.
• Swing User interface for control.

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Simbad是一个基于3djava的开源机器人模拟器，可以用它来研究人工智能，机器学习或者更多的AI算法，我主要使用它来研究subsumption architecture,它同时支持python语言，不过是jypthon，需要另外安装jython编译器。

它的功能：

* 3D可视化

* 支持创建单个或者多个机器仿真

* 视觉传感器：彩色摄像机

* 范围传感器：声纳传感器和红外检测传感器

* 接触传感器：缓存器

* Swing 的用户控制界面

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下面我介绍它环境的搭建,我的操作系统是ubuntu 12.04和12.10

1  Simbad 的jar包或者源码可以从如下地址下载：

    http://simbad.sourceforge.net/index.php#download

    http://sourceforge.net/projects/simbad/files/

    也可以使用svn下载它的源码回来，可以按着里面的说明去编译。

     svn co https://simbad.svn.sourceforge.net/svnroot/simbad simbad

2 配置java 和java3d环境

  java环境搭建：

      (1)下载jdk:http://www.oracle.com/technetwork/java/javase/downloads/index.html

      (2) 解压jdk   

           tar -xvf jdk-7u10-linux-i586.tar.gz

           sudo mkdir /usr/lib/jdk

           sudo mv jdk-7u10-linux-i586  /usr/lib/jdk

       (3) 添加环境变量

          vim /etc/profile

           以下是添加的内容：

     export JAVA_HOME="/usr/lib/jdk/jdk1.7.0_10"
     export JRE_HOME="/usr/lib/jdk/jdk1.7.0_10/jre"
     export PATH="$JAVA_HOME/bin:$JAVA_HOME/jre/bin:$PATH" 
    export CLASSPATH="$CLASSPATH:.:$JAVA_HOME/lib:$JAVA_HOME/jre/lib:"

            

   （3）使用update-alternatives切换ubuntu下默认java命令

            sudo update-alternatives --install "/usr/lib/java" "java" "/usr/lib/jdk/jdk1.7.0_10/bin/java"  1

            sudo update-alternatives --install "/usr/lib/javac" "javac" "/usr/lib/jdk/jdk1.7.0_10/bin/javac"  1

           sudo update-alternatives --install "/usr/lib/javaws" "javaws" "/usr/lib/jdk/jdk1.7.0_10/bin/javaws" 1

           sudo update-alternatives --set java /usr/lib/jdk/jdk1.7.0_10/bin/java

           sudo update-alternatives --set javac /usr/lib/jdk/jdk1.7.0_10/bin/javac

           sudo update-alternatives --set javaws  /usr/lib/jdk/jdk1.7.0_10/bin/javaws

    

java 3d环境搭建

（1）根据你的平台下载

          http://java3d.java.net/binary-builds.html

          解压java3d-1_5_2-XXX.zip

          把整个文件夹复制到 /usr/lib/jdk/jdk1.7.0_10   

（2）添加环境变量

           sudo vim /etc/profile

          在前的基础上添加如下

         

        export CLASSPATH="$CLASSPATH:.:$JAVA_HOME/lib:$JAVA_HOME/jre/lib:$JAVA_HOME/j3d-1_5_2-linux-amd64/lib/ext/j3dcore.jar:$JAVA_HOME/j3d-1_5_2-linux-amd64/lib/ext/j3dutils.jar:$JAVA_HOME/j3d-1_5_2-linux-amd64/lib/ext/vecmath.jar:"

export LD_LIBRARY_PATH="/usr/lib/jdk/jdk1.7.0_10/j3d-1_5_2-linux-amd64/lib/amd64"

(3)将  /usr/lib/jvm/java/j3d1.5.2/lib/ext/中的 j3dcore.jar, j3dutils.jar, and vecmath.jar拷贝到目录/usr/lib/jvm/java/jdk1.7.0_10/jre/lib/ext中。

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运行模拟器测试:

java -jar simbad-[version].bin.jar

以下是成功运行的截图: