Existing models of robots can be found under the ${PACER_HOME}/Example/Model directory

Pacer does not get its models from the Moby or Gazebo simulators. Instead, Pacer needs to be pointed to a file describing the model. If Pacer and the Simulator point to different robot models. The robot will either control less accurately (for a similar robot) or not at all (for a robot with a different number of DOFs).

Supported model formats:

• SDF
  • see ${PACER_HOME}/Example/Model/<robot name>/model.sdf
• XML (Moby-only syntax)
  • see ${PACER_HOME}/Example/Model/<robot name>/model.xml