Concepts

This section discusses the concepts used in AMBF.

• The General Concept
  • Controlling dynamic bodies vs kinematic bodies:
  • Parenting of bodies and joints:
  • Note:
  • Example
• Object State Payload
  • afObject State Message
• Object Command Payload
  • afObject Command Message
  • Types of Controllers
    • Body’s Pose Control
    • Connected Bodies Joint Control
    • joint_names:*
• World State Payload
  • afWorld State Message
• World Command Payload
  • afWorld Command Message
• The AMBF Format
  • The Anatomy of the AMBF Format
• Header Data-Block
  • bodies
  • soft bodies
  • joints
  • high resolution path
  • low resolution path
  • namespace
  • joint erp
  • joint cfm
  • ignore inter-collision
• Body Data-Block
• Joint Data-Block
• Sensors