Frame 6

Use the MAMBO toolbox to generate a MAMBO geometry description with the world observer at the top of the observer hierarchy and the body observer directly related to the world observer.

In the MAMBO toolbox, type

>DefineNeighbors(W,B);
>GeometryOutput(main=W,filename="c:\\MamboProjects/tutorial.geo");

(Note that the specification of the path for the output file varies between different operating systems. The format used here corresponds to running the MAMBO toolbox within Matlab in Windows XP.)

Use the MAMBO toolbox to generate a corresponding MAMBO motion description with some arbitrary numerical values for the MAMBO parameters.

In the MAMBO toolbox, type

>MotionOutput(ode={},filename="c:\\MamboProjects/tutorial.dyn",parameters=[thickness=0.01,length=5,width=5,R=1,marker=0.05],states=[q1,q2,q3,q4,q5,q6,q7,q8,q9,q10]);

Create a MAMBO project based on the geometry and motion descriptions as per the following steps.

1. Start a new MAMBO project by selecting the 'File->New' menu item, or by clicking on the 'New' icon in the 'File toolbar'.
2. Select the 'File->Load Simulation' menu item. In the 'Open' dialog box, navigate to the folder containing the motion description, select the "tutorial.dyn" file and click on the 'Open' button.
3. Select the 'File->Load Geometry' menu item. In the 'Open' dialog box, navigate to the folder containing the geometry description, select the "tutorial.geo" file and click on the 'Open' button.
4. Select the 'File->Save' menu item or click on the 'Save' icon in the 'File toolbar'.
5. Save the MAMBO project file in an appropriate folder.

The MAMBO project file contains information about the relative location of the MAMBO geometry and motion descriptions. If any of these three files are relocated, the project file will not load properly.

Frame 6