def execute_mujoco(ball, table, robot, mujoco_id, model_name):
# init mujoco
config = pam_mujoco.MujocoConfig()
config.graphics = True
config.extended_graphics = False
config.realtime = False
pam_mujoco.init_mujoco(config)
# adding contact detection between ball and table
# note: best to add first (i.e. before mirror robot and
# mirror ball), as controllers are called in sequence,
# and contact info will change behavior of mirror ball controller
pam_mujoco.add_robot1_contact_free_joint(
"racket", ball.index_qpos, ball.index_qvel, ball.geom, robot.geom_racket
)
# for detecting contact with the table
pam_mujoco.add_table_contact_free_joint(
"table", ball.index_qpos, ball.index_qvel, ball.geom, table.geom_plate
)
# adding the mirror ball controller
# (mirroring will be interrupted upon contact with the racket:
# the contact controller (added right above) will write contact information
# in the shared memory (segment: segment_id_contacts). The ball mirroring
# controller will stop mirroring the ball after the data shared in the memory
# shows a contact occured).
pam_mujoco.add_mirror_until_contact_free_joint(
"ball", ball.joint, ball.index_qpos, ball.index_qvel, "racket"
)
# adding robot mirroring controller
pam_mujoco.add_mirror_robot("robot", robot.joint)
# starting the thread
pam_mujoco.execute(mujoco_id, model_name)
# looping until requested to stop
while not pam_mujoco.is_stop_requested(mujoco_id):
time.sleep(0.01)
def execute_mujoco(pam_model_config, robot, mujoco_id, model_name):
# init mujoco
pam_mujoco.init_mujoco()
# adding pressure controller
pam_mujoco.add_pressure_controller(*pam_model_config)
# starting the mujoco thread
pam_mujoco.execute(mujoco_id, model_name)
# runnign it until requested to stop
while not pam_mujoco.is_stop_requested(mujoco_id):
time.sleep(0.01)
def execute_mujoco(mujoco_id, model_path, balls, table):
# init mujoco
config = pam_mujoco.MujocoConfig()
config.graphics = True
config.extended_graphics = False
config.realtime = True
pam_mujoco.init_mujoco(config)
# for detecting contact with the table
pam_mujoco.add_table_contact("table", balls[1], table)
# adding the mirror ball controller, full trajectory
pam_mujoco.add_o80_ball_control("ball1", balls[0])
# adding the mirror ball controller, until contact with table
pam_mujoco.add_o80_ball_control_until_contact("ball2", "table", balls[1])
# starting the thread
pam_mujoco.execute(mujoco_id, model_path)
def execute_mujoco(segment_id, mujoco_id, model_name, robot):
# init mujoco
config = pam_mujoco.MujocoConfig()
config.graphics = True
config.extended_graphics = False
config.realtime = True
pam_mujoco.init_mujoco(config)
# adding mirroring robot controller
pam_mujoco.add_mirror_robot(segment_id, robot.joint)
# setting bursting mode
pam_mujoco.add_bursting(mujoco_id, segment_id)
# starting the mujoco thread (reads pamy.xml in pam_mujoco/models/tmp/)
pam_mujoco.execute(mujoco_id, model_name)
# runnign it until requested to stop
while not pam_mujoco.is_stop_requested(mujoco_id):
time.sleep(0.01)
def execute_mujoco(segment_ids, mujoco_id, model_name, balls):
# init mujoco
config = pam_mujoco.MujocoConfig()
config.graphics = True
config.extended_graphics = False
config.realtime = False
pam_mujoco.init_mujoco(config)
# adding the mirror ball controllers
for segment_id, ball in zip(segment_ids, balls):
pam_mujoco.add_mirror_free_joint(
segment_id, ball.joint, ball.index_qpos, ball.index_qvel
)
# staring the thread
pam_mujoco.execute(mujoco_id, model_name)
# looping until requested to stop
while not pam_mujoco.is_stop_requested(mujoco_id):
time.sleep(0.01)
def _execute_mujoco(mujoco_id, segment_id, pam_model_config):
model_name = segment_id
# init mujoco
config = pam_mujoco.MujocoConfig()
config.graphics = graphics
config.extended_graphics = extended_graphics
config.realtime = realtime
pam_mujoco.init_mujoco(config)
# adding pressure controller
pam_mujoco.add_pressure_controller(*pam_model_config)
# starting the thread
model_path = pam_mujoco.paths.get_model_path(model_name)
pam_mujoco.execute(mujoco_id, model_path)
# looping until requested to stop
while not pam_mujoco.is_stop_requested(mujoco_id):
time.sleep(0.01)
def execute_mujoco(mujoco_id, model_name, ball, hit_point, table):
# init mujoco
config = pam_mujoco.MujocoConfig()
config.graphics = True
config.extended_graphics = False
config.realtime = True
pam_mujoco.init_mujoco(config)
# adding the mirror ball controller
pam_mujoco.add_mirror_until_contact_free_joint("ball", ball.joint,
ball.index_qpos,
ball.index_qvel, "contact")
# adding the hit point controller
pam_mujoco.add_mirror_free_joint("hit_point", hit_point.joint,
hit_point.index_qpos,
hit_point.index_qvel)
# adding detection of contact between ball and table
pam_mujoco.add_table_contact_free_joint("contact", ball.index_qpos,
ball.index_qvel, ball.geom,
table.geom_plate)
# starting the thread
pam_mujoco.execute(mujoco_id, model_name)
# looping until requested to stop
while not pam_mujoco.is_stop_requested(mujoco_id):
time.sleep(0.01)
def _execute_mujoco(mujoco_id, ball, robot, goal, hit_point, segment_ids):
model_name = segment_ids["robot"]
# init mujoco
config = pam_mujoco.MujocoConfig()
config.graphics = graphics
config.extended_graphics = extended_graphics
config.realtime = realtime
pam_mujoco.init_mujoco(config)
active_only = True
not_active_only = False
# for detecting contact with the robot
if segment_ids["contact_robot"] is not None:
pam_mujoco.add_robot1_contact_free_joint(
segment_ids["contact_robot"],
ball.index_qpos,
ball.index_qvel,
ball.geom,
robot.geom_racket,
)
# adding the mirror ball controller, will play
# recorded ball trajectories, until contact with robot
if segment_ids["contact_robot"] is not None:
pam_mujoco.add_mirror_until_contact_free_joint(
segment_ids["ball"],
ball.joint,
ball.index_qpos,
ball.index_qvel,
segment_ids["contact_robot"],
)
else:
pam_mujoco.add_mirror_free_joint(
segment_ids["ball"],
ball.joint,
ball.index_qpos,
ball.index_qvel,
active_only,
)
if segment_ids["goal"] is not None:
pam_mujoco.add_mirror_free_joint(
segment_ids["goal"],
goal.joint,
goal.index_qpos,
goal.index_qvel,
not_active_only,
)
if segment_ids["hit_point"] is not None:
pam_mujoco.add_mirror_free_joint(
segment_ids["hit_point"],
hit_point.joint,
hit_point.index_qpos,
hit_point.index_qvel,
not_active_only,
)
# adding mirroring robot controller
pam_mujoco.add_mirror_robot(segment_ids["robot"], robot.joint)
# set bursting mode if requested
if segment_ids["burst"] is not None:
pam_mujoco.add_bursting(mujoco_id, segment_ids["burst"])
# starting the thread
model_path = pam_mujoco.paths.get_model_path(model_name)
pam_mujoco.execute(mujoco_id, model_path)
# looping until requested to stop
try:
while not pam_mujoco.is_stop_requested(mujoco_id):
time.sleep(0.01)
except Exception:
pass
# adding a "hit point"
hit_points = [
pam_mujoco.HitPoint(model_name, "hp", position=[0.7, 1.0, -0.45])
]
# generating the model xml file (/tmp/test/test.xml)
path = pam_mujoco.generate_model(
model_name,
robots=robots,
balls=balls,
tables=tables,
goals=goals,
hit_points=hit_points,
)
# starting mujoco using the generated model
config = pam_mujoco.MujocoConfig()
config.graphics = True
config.extended_graphics = False
config.realtime = True
pam_mujoco.init_mujoco(config)
pam_mujoco.execute(mujoco_id, path)
signal_handler.init()
print("ctrl+c for exit")
while not signal_handler.has_received_sigint():
time.sleep(0.01)
pam_mujoco.request_stop(mujoco_id)
