Launching the Simulator

Launching the Simulator:

Having successfully completed the steps above running is Simulator is easy. Depending on what OS you're using follow the commands below:

cd ~/ambf/bin/<os>
./ambf_simulator

The AMBF Simulator uses the yaml file located in ambf/ambf_models/descriptions/launch.yaml to load robot/multi-body models, haptic device end-effectors and the world. You can see the contents of this file by launching it in your favorite text editor. For an initial overview, the most important thing is the field multibody configs:. The uncommented config file(s) will be launched at startup. Multiple config files can be launched at the same time by uncommenting them. You can play around with a few config files to see how they work.