def pseudo_real_robot(
mujoco_id,
segment_id,
pam_interface_config: pam_interface.Configuration,
graphics=True,
extended_graphics=False,
realtime=True,
):
# creating the xml mujoco model
items = pam_mujoco.model_factory(segment_id, robot1=True)
robot = items["robot"]
# artificial muscles config
pam_model_config = _get_pam_model_configuration(segment_id,
pam_interface_config,
robot)
# function running mujoco
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)
# starting mujoco
process = multiprocessing.Process(target=_execute_mujoco,
args=(mujoco_id, segment_id,
pam_model_config))
pam_mujoco.clear(mujoco_id)
process.start()
pam_mujoco.wait_for_mujoco(mujoco_id, -1)
return process
# time.sleep(0.01)
# starting mujoco thread
process = multiprocessing.Process(
target=execute_mujoco,
args=(
mujoco_id,
model_path,
balls,
table,
),
)
pam_mujoco.clear(mujoco_id)
process.start()
pam_mujoco.wait_for_mujoco(mujoco_id, -1)
# playing 3 trajectories
for run in range(3):
# initializing o80 frontend for sending ball/hit_point position/velocity
# to mujoco thread
frontend_ball1 = o80_pam.BallFrontEnd("ball1")
frontend_ball2 = o80_pam.BallFrontEnd("ball2")
# reading a random pre-recorded ball trajectory
_, trajectory_points = list(context.BallTrajectories().random_trajectory())
# lowering the balls a bit to ensure contact with table
translation = [0, 0, -0.01]
# sending the full ball trajectory to the mujoco thread.
# starting mujoco thread
process = multiprocessing.Process(
target=execute_mujoco,
args=(
ball,
table,
robot,
mujoco_id,
model_name,
),
)
pam_mujoco.clear(mujoco_id)
process.start()
pam_mujoco.wait_for_mujoco(mujoco_id)
# initializing o80 frontend for sending ball position/velocity
# to mujoco thread
frontend_ball = o80_pam.MirrorFreeJointFrontEnd("ball")
# initializing o80 frontend for sending robot joints position/velocity
# to mujoco thread
frontend_robot = o80_pam.MirrorRobotFrontEnd("robot")
# having the ball falling off slowly
ball_x = 0.84
ball_y = 0.55
ball_z_start = 1.25
ball_z_end = -3.0
start_point = [ball_x, ball_y, ball_z_start]
def ball_and_robot(
mujoco_id,
segment_id_robot,
segment_id_contact_robot,
segment_id_ball,
segment_id_burst=None,
graphics=True,
extended_graphics=False,
realtime=True,
segment_id_goal=None,
segment_id_hit_point=None,
):
# creating the xml mujoco model
use_goal = True if segment_id_goal is not None else False
use_hit_point = True if segment_id_hit_point is not None else False
items = pam_mujoco.model_factory(
segment_id_robot,
table=True,
robot1=True,
goal=use_goal,
hit_point=use_hit_point,
muscles=False,
)
ball = items["ball"]
robot = items["robot"]
goal = items["goal"] if use_goal else None
hit_point = items["hit_point"] if use_hit_point else None
segment_ids = {
"ball": segment_id_ball,
"robot": segment_id_robot,
"contact_robot": segment_id_contact_robot,
"burst": segment_id_burst,
"goal": segment_id_goal,
"hit_point": segment_id_hit_point,
}
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
# starting mujoco
process = multiprocessing.Process(
target=_execute_mujoco,
args=(mujoco_id, ball, robot, goal, hit_point, segment_ids),
)
pam_mujoco.clear(mujoco_id)
process.start()
pam_mujoco.wait_for_mujoco(mujoco_id, -1)
return process