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VigneshManoj / ambf Public

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Vignesh edited this page Apr 6, 2020 · 2 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 23

Home
Controlling a Toy Car
Controlling dVRK Manipulators
Installing AMBF
Launching the Simulator
Multibody Body Data Block
Multibody Header Data Block
Multibody Joint Data Block
Multibody Sensor Data Block
Object Command Payload
Object State Payload
Parameters for Learning Models
PyKDL Installation for Python3
Selecting Robots
Steps for Training Model using Reinforcement Learning
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

Examples

Controlling dVRK Manipulators
Controlling a Toy Car

Concepts

Understanding ROS Message Payloads
The AMBF Format

MultiBody Data-Blocks
World Data-Blocks

Reinforcement Learning

Parameters for Learning Models
Installation of PyKDL for Python3
Steps for Training a Model using Reinforcement Learning

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