ARMOR v0.10 adds robot Semantics using SRDF — the same format used in ROS. The SRDF is a separate XML file that references your URDF without replacing it. You define groups of joints (for example, “these joints make up the left arm”) and then group states (configurations for those groups), which set the initial values for your MuJoCo simulation.
Think of a group state like a key frame; in time this could grow into control options such as “go to the raised-arm state.”
Key points
- SRDF semantics editor, ROS-compatible
- Define joint groups and group states
- Set initial conditions for MuJoCo simulation
Read about model settings and simulation setup in Settings.