WorldServer3D 

List of available commands :

-------------------Game Settings----------------------------------------  
- help - Show this list
- memory - Show available free memory
- getclock - Show the server current time
- quit - Quit the communication session
- startGame - Start the game: creatures start moving.
- shutdown - Shutdown the server application
- version - Show current version
- setenv <environment width> <environment height> <path to texture image
  of the floor>
- getenvironment - Get Environment Geometry
- getworldsituation - Get the actual number of creatures and things

------------Create and delete waypoints---------------------------------
- newwp <X> <Y> - New waypoint at position (x y)
- delwp <X> <Y> - Delete waypoint at position (x y)

--------Create entities (objects at the environment)--------------------
- brick <type> <x1> <y1> <x2> <y2>- Type: 0-Red 1-Green 2-Blue 3-Yellow
  4-Magenta 5-White with vertexes x1, x2, y1, y2 
- deliver <creature ID> - Deliver the leaflet and increase the 
  creature's score.
- drop <creature ID> <Thing index> <Thing color (for jewels) or any 
  number for food> - Index: 3-Jewel; 21-Perishable food; 22-Non-
  Perishable food; Color: 0-Red 1-Green 2-Blue 3-Yellow 4-Magenta 
  5-White
- food <type> <x> <y> - Type: 0-perishable 1-non-perishable at position 
  (x,y)
- jewel <type> <x> <y> - Type: 0-Red 1-Green 2-Blue 3-Yellow 4-Magenta 
  5-White at position (x,y)
- cage <x> <y> - Create a cage at position (x,y)
- leaflet <creature ID> <jewel1> <jewel2> <jewel3> - Create a leaflet. 
  Do not enter anything in order  to randomize. Example: >leaflet or 
  >leaflet robotID Red Green Blue

-----------Creature control---------------------------------------------
- new <X> <Y> <PITCH> - Insert new creature at positions 
- camera <creature ID> - Start robot's visual sensor
- start <creature ID> - Start creature motor system.
- stop <creature ID> - Stop creature motor system.
- setgoTo <creature ID> <Vr> <Vl> <Xdirection> <Ydirection> - Creature 
  turns towards the direction of point (x, y). But does not stop at the
   point. Linear velocity is the arithmetic mean of Vr  and Vl.
- setTurn <creature ID> <speed> <Vr> <Vl> - Set actuation parameters.
  Angle of the turn derived from  the wheel speed values (Vr-right Vl 
  left) and Linear velocity according to <speed> parameter.  The final
  pitch of the robot depends on its original orientation (pitch).

HINTs: +~30deg: Vl= 11 and Vr= 0.6; +~45deg: Vl= 16 and Vr= 0.2; +~60deg: 
Vl= 22 and Vr= 1; +~90deg: Vl= 32 and Vr= 0.6; +~180deg: Vl= 63 and Vr= 0.2; 
+~270deg: Vl= 95 and Vr= 0.8;  setAngle <creature ID> <Vr> <Vl> <w (radians)> 
- Set the creature's pitch to a specific angle.
Reference is 0 radian that is the X axis (horizontal) and positive angles go 
clockwise. This command is often used when autonomously controlling the 
creature. Linear velocity is the arithmetic mean of Vr and Vl. 

getfullstatus3D <creature ID> - Creature data: X Y size pitch motorSys wheel 
speed fuel color camera affordances <Thing ID (Format: Name__Timestamp)> 
- Get list of affordances of a Thing 

refuel <creature ID> - Set full energy for a specific creature.