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WPI-AIM / ambf Public

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Adnan Munawar edited this page Jul 2, 2019 · 3 revisions

Welcome to the AMBF wiki! Check out the video below for a quick introduction to the capabilities of AMBF.

Toggle table of contents Pages 28

Home
Camera feed and depth camera
Collision Filtering
Command Line Arguments
Contact Sensors
Controlling a Toy Car
Controlling dVRK Manipulators
Input Devices
Installing AMBF
Keyboard and Mouse Shortcuts
Launching the Simulator
Mouse Control Multipliers
Multibody Body Data Block
Multibody Header Data Block
Multibody Joint Data Block
Multibody Sensor Data Block
Object Command Payload
Object State Payload
Preprocessing Shaders
Selecting Robots
The AMBF Description Format
The Python Client
Understanding ROS Message Payloads
World Camera Data Block
World Command Payload
World Header Data Block
World Light Data Block
World State Payload

The AMBF Simulator

Introduction

Installing AMBF
Launching the Simulator
Selecting Robot(s) to Launch
The Python Client
Understanding the Input Device Specification
Understanding Command Line Arguments
Keyboard and Mouse Shortcuts
Mouse Control Multipliers

Useful Tools

Import volume from 3D Slicer
Drawing a 3D Curve

Concepts:

Collision Filtering
Preprocessing Shaders
Publishing Camera Feed and Depth Point Cloud
Setting Per Object or Per Model Level Gravity:

Examples

Object Control Via GUI
Gripper Control Via Input Device
Robot Teleop Via Input Device
Robot Control Via Joystick/Gamepad
Rendering Point Clouds
Sensors, Actuators, and Constraint-Based Grasping
Controlling dVRK Manipulators
Controlling a Toy Car
Contact Sensors

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