Selecting Robots - VigneshManoj/ambf GitHub Wiki

Selecting Robots

This a brief overview of the ambf/ambf_models/descriptions/launch.yaml file. If we take a look at the block multi-body configs, we can see the existing multi-body config files that have been defined for AMBF. There are of course additional Robots and Multibodies that are defined in the (ambf/ambf_model/descriptions/multi-bodies)[https://github.com/WPI-AIM/ambf/tree/master/ambf_models/descriptions/multi-bodies]* folder. These can be added to multibody config block and even you can create your own Robot/Multi-Bodies that can be appended to the multibody config block. It's worth paying attention to the comments after each multibody file. These are indexes that can be used to load the specific multibody in the simulator and are there only to assist in counting.

# This is the base file for Coordination Application
world config: ./world/world.yaml
color config: ./color/colors.yaml
input devices config: ./input_devices/input_devices.yaml
multibody configs:
  - "./multi-bodies/robots/blender-toy-car.yaml" #0
  - "./multi-bodies/robots/blender-toy-car2.yaml" #1
  - "./multi-bodies/robots/blender-neuro-robot.yaml" #2
  - "./multi-bodies/robots/blender-raven2.yaml" #3
  - "./multi-bodies/robots/blender-mtm.yaml" #4
  - "./multi-bodies/robots/blender-psm.yaml" #5
  - "./multi-bodies/robots/blender-ecm.yaml" #6
  - "./multi-bodies/robots/blender-suj.yaml" #7
  - "./multi-bodies/robots/blender-kuka.yaml" #8
  - "./multi-bodies/robots/blender-pr2.yaml" #9
  - "./multi-bodies/puzzles/parallel_structure.yaml" #10
  - "./multi-bodies/puzzles/puzzle1.yaml" #11
  - "./multi-bodies/puzzles/puzzle2.yaml" #12

Now let's run the simulator as described in Launching the Simulator