launch.yaml

# This is the base file for Coordination Application
world config: ./ADF/world/world_stereo.yaml
color config: ./ADF/color/colors.yaml
input devices config: ./ADF/input_devices/input_devices.yaml

plugins: [
    # External plugins
    {
      path: ./plugins/external_plugins/ambf_crtk_plugin/build,
      name: crtk_plugin,
      filename: libambf_crtk_simulator_plugin.so,
    },
    {
      path: ./plugins/external_plugins/ambf_tf_plugin/build,
      name: ambf_tf_plugin,
      filename: libambf_tf_plugin.so,
    },
    # Internal plugins
    {
      path: ./plugins/build,
      name: keyboard_shortcuts_plugin,
      filename: libkeyboard_shortcuts_plugin.so,
    },
    {
      path: ./plugins/build,
      name: peg_gripper_plugin,
      filename: libpeg_gripper_plugin.so,
    },
  ]

multibody configs:
  - "ADF/camera_frame.yaml" #0 #VERY IMPORTANT.
  - "ADF/full_new_psm2.yaml" #1
  - "ADF/sensors_actuators_psm2.yaml" #2
  - "ADF/20240909_PegPuzzle.yaml" #3
  - "ADF/full_new_psm2_registration.yaml" #4 -- NOT WORKING -- DON'T USE
  - "ADF/full_new_psm2_with_peg.yaml" #5 -- NOT WORKING -- DON'T USE