What it is

o80_pam is a wrappers over pam_interface providing o80 functionalities.

This documentation assumes you are familiar with both pam_interface and o80.

Installation

Follow the general guidelines, using either the treep project "PAM" or the treep project "PAM_MUJOCO" (if you'd like to use o80_pam over a PAM robot simulated by Mujoco).

If using mujoco, you also need to copy a mujoco licence key (mjkey.txt) in the folder /opt/mujoco/ (create the folder is necessary).

Usage

Starting a o80 server

In terminal, assuming the workspace has been sourced :

To get some documentation:

o80_pam -h

To start a server over a dummy robot (no real physics, no graphics, just for debugging purposes):

o80_pam

To start a server over a mujoco simulated robot:

o80_pam mujoco

To start a server over the real robot (on cent-os control desktop, assuming you follow the procedure provided in the pam_interface documentation)

o80_pam real

Checking all is working

Once the o80 server started, you may check all is working fine by running in another terminal :

o80_pam_check

This executable will changes the pressure on each muscle one by one.

Performing a series of swing motion

o80_pam_lengthcables

Python user code

You may send commands to the robot and receiving observations from it via an o80 based API. The o80 API is fully supported. To get an example of usage of this PAI, see the demos folder. For example, this demo.

Mirroring real robot by mujoco simulated robot

Once a o80_pam server is started:

pam_mujoco_mirroring