Tutorial 0: How to run tutorial demos

Code for demos and tutorials can be found in the pam_demos repository.

The typical process to run a demo or a tutorial is:

  1. Open the terminal (of your choice)

  2. Use the pam_mujoco-command with the corresponding “mujoco_id”

  3. Run a Python-script with the desired (control) commands.

Starting a demonstration or tutorial

First, a MuJoCo handle (in the following indicated by the mujoco_id) has to be specified. For each tutorial a tutorial-specific mujoco_id has been prepared and can be found in the corresponding Python-script.

pam_mujoco mujoco_id

For example, for Tutorial 1:

pam_mujoco tutorials_1_to_3

This will spawn a xterminal. Alternatively, you may start:

pam_mujoco_no_xterms tutorials_1_to_3

which will start the simulation in the background of the current terminal.

You may then run the demo, for example:

python ./tutorial_1.py
# python should be of version 3.x

Stopping a demonstration or tutorial

The MuJoCo simulation can be stopped. For stopping the simulation, you may simple close the terminal from which you started the xterminal-application. Alternatively, you may call:

pam_mujoco_stop tutorials_1_to_3

or:

pam_mujoco_stop_all
# will stop all running pam_mujoco

Further remarks

  • Note that you may run the demo several times without the need to restart pam_mujoco.

  • The “mujoco_id” depends on the demo and is indicated in the source file of the demo or in the README-file. Further information regarding the mujoco_id can be found here: MuJoCo handles and contacts.