The entry point to the AMBF Simulator is via the launch file located in ambf/ambf_models/descriptions/launch.yaml. Lastly, the -l and -a flags can be used together to launch some files based on the index and some based on the filenames.
ambf_simulator -a /users/potato/tests/robot.yaml,/users/potato/tests/car.yaml
#Wpi aim lab install#
On Linux machines, you might need to install the libasound2-dev package and external library dependencies.
#Wpi aim lab full#
We need a few extra steps on Ubuntu 14.04, please create an issue if you would like to get instructions for that.Įven though it is recommended to use Linux for the full feature set of AMBF Simulator using ROS, AMBF has been tested on MacOS Maverick and MacOS Mojave without ROS support. Usage: 4.1 Tested Platforms:ĪMBF has been tested on Ubuntu 16.04 and Ubuntu 18.04. Each external library has its license that can be found in the corresponding subfolder. This framework is built around severalĮxternal tools that include an extended version of CHAI-3D (developed alongside AMBF), BULLET-Physics, Open-GL, GLFW, yaml-cpp, pyyaml, and Eigen to name a few. RL Agents on real-time data with the simulation in the loop. It also provides a Python client for training NN and
(CHAI-3D) (including dVRK Manipulators and Razer Hydras). This multi-body framework offers a real-time dynamic simulation of robots, freeīodies, and multi-link puzzles coupled with real-time haptic interaction via several haptic devices You can also check out the video below for a brief rundown of some of the features of AMBF. Please check out the Wiki for in-depth details about AMBF, its components, examples, and concepts. Asynchronous Multi-Body Framework (AMBF) 1.
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