VEsNA is a framework that enables JaCaMo agents to be embodied inside a virtual environment. This repository contains the bridge between agent minds and agent bodies.

The framework provides:

• a total new set of actions for spatial reasoning;
• a fully working playground environment implemented in Godot.

In your .jcm file insert the new agent:

mas your_mas {
	
	agent bob:bob.asl {
		beliefs:	address( localhost )
					port( 9080 )
		ag-class:	vesna.VesnaAgent
	}

}

The new Agent class VesnaAgent creates a connection between each agent and its body. The body implements a server with an address and a port, the agent should place these two data inside the beliefs.

Inside your agent file you should include the vesna.asl file and, if you want, the playground files:

include{ ( "vesna.asl" ) }
include{ ( "playgrounds/office.asl" ) }

The vesna file provides plans:

• go_to( Target ): makes the agent move to the target;
• follow_path( [ Path ] ): makes the agent follow a path.

These plans make the agent reason with Region Connection Calculus (RCC). A map of the environment in RCC is given in the playground folder.

Additionally, the vesna agent has three new DefaultInternalActions:

• vesna.walk(): can be used with different parameters.
  • without parameters: makes a step;
  • with a number n: makes a step of length n;
  • with a literal target: moves to the target;
  • with a literal target and a number id: moves to the target with id.
• vesna.rotate(): can be used with different parameters.
  • with a direction (left, right, backward, forward) to rotate in that direction;
  • with a literal target to look at target;
  • with a literal target and an id to look at target with id.
• vesna.jump(): makes a jump.

To implement your VEsNA body you should implement a websocket Server. The server will receive these messages:

{
    sender: "ag_name",
    receiver: "body",
    type: "msg_type",
    data: {
        type: "inner_type",
        ...
    }
}

The sender is set to the agent name in the mas. msg_type can be walk, rotate or jump. The inner_type is the inner type of the action.

Jump action has an empty data field.

A walk message can have two types: goto or step.

The data field for goto is:

{
 	type: "goto",
    target: "target",
    id: 0 [optional]
}

The data field for step is:

{
    type: "step",
    length: 2 [optional]
}

A rotate message can have two types: direction or lookat.

The data field for direction is:

{
    type: "direction",
    direction: "left"
}

The data field for lookat is:

{
    type: "lookat",
    target: "target",
    id: 0 [optional]
}

In order to try the playground, you should:

1. open Godot and import the playground you want;
2. start the main scene;
3. go in the mind folder;
4. launch the project (with gradle run).