Asynchronous Multi-Body Framework (AMBF)

Author: Adnan Munawar (amunawa2@jh.edu)

Build Status:

1. Description:

The Asynchronous Multi-Body Framework (AMBF) provides real-time dynamic simulation of robots, and soft-bodies coupled with real-time haptic interaction via several haptic devices (CHAI-3D) (including dVRK Manipulators and Razer Hydras). It also provides a Python client for training NN and RL Agents on real-time data with the simulation in the loop. This framework is built around several external tools that include an extended version of CHAI-3D (developed alongside AMBF), BULLET-Physics, Open-GL, GLFW, yaml-cpp, pyyaml, and Eigen to name a few. Each external library has its license that can be found in the corresponding subfolder.

2. Wiki:

Please refer to the Wiki for usages, examples, and concepts.

3. Discussions:

Please refer to the discussions questions, and suggestions.

4. Featured Projects:

A list of some projects that are developed on/using AMBF. Please click on the project title to navigate to the project webpage.

4.1 Bone Drilling Simulator:

https://user-images.githubusercontent.com/5005445/199542980-4732e80d-4274-448e-a680-435182046b20.mp4

The bone drilling simulator also provides stereoscopic view of supported Virtual Reality (VR) Head Mounted Displays (HMDs):

https://user-images.githubusercontent.com/5005445/199543694-d9a2ded3-c716-4a5e-8a5f-b74e54d55d23.mp4

4.2 Surgical Robotics Challenge:

https://user-images.githubusercontent.com/5005445/199545181-894dc156-6da2-4b63-8c90-54b8f3dd23f9.mp4

4.3 Space Robotics Challenge:

https://user-images.githubusercontent.com/5005445/199545275-104b27ea-be60-4d6a-b8ca-9351deed2df0.mp4

Citation

If this work is helpful for your research, please use the following reference for citation:

@INPROCEEDINGS{8968568,
author={A. {Munawar} and Y. {Wang} and R. {Gondokaryono} and G. S. {Fischer}},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={A Real-Time Dynamic Simulator and an Associated Front-End Representation Format for Simulating Complex Robots and Environments},
year={2019},
volume={},
number={},
pages={1875-1882},
keywords={},
doi={10.1109/IROS40897.2019.8968568},
ISSN={2153-0858},
month={Nov},}