Command Line Arguments

The ambf simulator can be launched with the following optional command-line arguments.

-h [ --help ]                     Show help

-n [ --ndevs ] arg                Number of Haptic Devices to Load. E.g. -n 2 will load the first two devices specified in the input_device.yaml file.

-i [ --load_devices ] arg         Index number of devices to load which is specified in input_device.yaml. E.g. -i 2 will load the 3rd device specified in the input_device.yaml file.

-e [ --enableforces ] arg         Enable Force Feedback on Haptic Devices. E.g. -e 0 will disable all forces on the input devices.

-p [ --phx_frequency ] arg        Physics Update Frequency (default: 1000 Hz). E.g. -p 60 will runs the physics loop at 60 Hz.

-d [ --htx_frequency ] arg        Haptics Update Frequency (default: 1000 Hz). E.g. -d 2000 will run the devices update loops at 2000 Hz.

-t [ --fixed_phx_timestep ] arg   Use Fixed Time-Step for Physics (default: False). E.g. -t 1 will enable fixed stepping for the physics loop.

-f [ --fixed_htx_timestep ] arg   Use Fixed Time-Step for Haptics (default: False). E.g. -f 1 will enable fixed stepping for the haptics loops.

-a [ --load_multibody_files ] arg Description Filenames of Multi-Body(ies) to launch. E.g. -a <path>/test.yaml,  <another_path>/test2.yaml
will load multibodies test.yaml and test2.yaml if they are valid ADF files.

-l [ --load_multibodies ] arg     Index of Multi-Body(ies) to launch. E.g. -l 1,2,3 will load multibodies at indexes 1,2,3. See launch.yaml file for the files included therein.

-g [ --show_gui ] arg             Show GUI. E.g. -g 0 shall run the simulator headless.

-s [ --sim_speed_factor ] arg     Override the speed of "NON REAL-TIME" simulation by a specified factor (Default 1.0). E.g. -s 2 shall run the physics simulation at twice the speed. Don't forget to enable fixed physics stepping (-t 1)

--launch_file arg                 Launch file path to load (default: ../../ambf_models/descriptions/launch.yaml

--ns arg                          Override the default (or specified in ADF) world namespace. E.g. --ns /my_workspace/ will forcefully preprent /my_workspace/ to all objects communication topics.