while time.time() - time_start < total_duration:
contacts = pam_mujoco.get_contact("table")
if contacts.contact_occured and not contact_detected:
print("contact !")
contact_detected = True
time.sleep(0.05)
# computing the distance between the 2 balls
# getting all observations (i.e. history of ball states
# as recorded by the o80 backend in the shared memory)
observations_ball1 = frontend_ball1.get_observations_since(first_iteration)
observations_ball2 = frontend_ball2.get_observations_since(first_iteration)
distances = []
for ball1, ball2 in zip(observations_ball1, observations_ball2):
position1 = ball1.get_position()
position2 = ball2.get_position()
distance = math.sqrt(
sum([(p1 - p2) ** 2 for p1, p2 in zip(position1, position2)])
)
distances.append(distance)
# plotting the distance
plt.plot(range(len(distances)), distances)
plt.show()
# resetting contacts
pam_mujoco.reset_contact("table")
# stopping the mujoco thread
pam_mujoco.request_stop(mujoco_id)
process.join()
dof, target, o80.Duration_us.seconds(duration), o80.Mode.QUEUE
)
# sending ball trajectory and robot motion
frontend_ball.pulse()
frontend_robot.pulse()
# bug ? during first iterations, contact are detected ...
time.sleep(1)
# reading shared memory for contact informations
time_start = time.time()
first_contact_racket = False
first_contact_table = False
while time.time() - time_start < duration:
contacts_racket = pam_mujoco.get_contact("racket")
if contacts_racket.contact_occured and not first_contact_racket:
print("-- contact with racket")
first_contact_racket = True
contacts_table = pam_mujoco.get_contact("table")
if contacts_table.contact_occured and not first_contact_table:
print("-- contact with table")
print("\tposition:", ",".join([str(a) for a in contacts_table.position]))
first_contact_table = True
time.sleep(0.1)
# stopping the mujoco thread
pam_mujoco.request_stop("mj")
process.join()