Running simulations

Running simulations with moby-driver

• Easiest way to run a simulation is to setup the scenario using an XML file and control the simulation using plugins (see Plugins)
• Syntax of moby-driver:
  $ moby-driver [options] <XML file>
• Options
  • -r (render to 3D display)
  • -os (output stats)
  • -oi (output iteration number)
  • -w (pickles the simulation, see Pickling)
  • -v (see Rendering videos)
  • -s (nominal simulation step size > 0)
  • -l (logging data, see Logging)
  • -lf (logging filename, default=stderr, see Logging)
  • -lp (logging iteration stop, see Logging)
  • -lt (logging iteration start, see Logging)
  • -mi (iteration to stop simulating)
  • -mt (virtual time to stop simulation)
  • -p (loads a plugin, see Plugins)
  • -y (picks the filename extension for rendering videos, default=".osg", see Rendering videos)
  • -vcp (enable contact point visualization)

Observing the simulation

• simulation can be observed from rendering, either online (timing is not consistent) or in batch (timing is consistent, but requires post-processing step- see Rendering videos)
• simulation can be observed through data, either by Moby's logging process (see Logging) or using a plugin to output state information

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