More info: List of executables

Once the installation procedure completed, various executables are installed.

Dialog

Some executables trigger a dialog. For example:

user@machine:~$ o80_dummy 


	0 | bursting_mode:	False
	1 | frequency:	500
	2 | nb_dofs:	4
	3 | pam_config_file:	/opt/mpi-is/pam_interface/pam.json
	4 | segment_id:	o80_pam_robot


		use these values ? ['y', index to change, 'h' for help]:

You may use the dialog to either accept the default configuration values, or to change them.

Note that alternatively, you may skip the dialog by configuring “manually” any of the configuration value, e.g.

o80_dummy -frequency 100 -pam_config_file /my/config/file.json

The above will start directly o80_dummy using the specified values (and the default values for the non specified arguments).

o80_dummy

Starts a o80 backend connected to a “dummy” pressure controlled pam robot. No graphics, no realistic physics (at all). Used for debug and testing. See tutorials 1 to 3 for control.

o80_real

Starts a o80 backend connected to a pressure controlled real robot (on robot computer only). See also tutorials 1 to 3 for control examples.

pam_mujoco

Spawn a new terminal that host a mujoco simulation with (pressure controlled or joint controlled) robot(s), ball(s), goal(s), etc. See tutorial 4 for control example via a handle. Note that mujoco_id used as argument to pam_mujoco must match the mujoco_id passed as argument to the handle.

For example:

pam_mujoco my_id

handle = pam_mujoco.MujocoHandle("my_id")

It is possible to call pam_mujoco with several mujoco_ids:

pam_mujoco my_id1 my_id2 my_id3

in which case several (here 3) terminals will be spawned.

Note: pam_mujoco must be called before handle instantiation.

You may note that the process ids of the spawned processes are printed in the main terminal (in case you need to kill them for any reason).

pam_mujoco_no_xterms

Similar to pam_mujoco (right above) with the difference that the MuJoCo simulation are not hosted by new terminals, but in the background of the current terminal.

pam_mujoco_visualization

pam_mujoco_visualization takes 2 arguments:

pam_mujoco_visualization mujoco_id_from mujoco_id_to

It is expected that pam_mujoco_visualization is called after:

pam_mujoco mujoco_id_from

pam_mujoco will spawn a terminal hosting a pam_mujoco instance that will “mirror” the pam_mujoco instance running on mujoco_id “mujoco_id_from”. Possibly useful if the pam_mujoco instance “mujoco_id_from” has been started without graphics, or has been started in burst mode (see tutorial 6).

pam_mujoco_stop

It takes a mujoco_id as argument, and kills the corresponding pam_mujoco instance (if any)

pam_mujoco_stop_all

Kills all running instances of pam_mujoco

o80_plotting

Starts a live plot of a pressure controlled robot. It shows the measured pressures, the desired pressure and the frequency of backend. Works for pressure controlled robots started with o80_dummy, o80_real or pam_mujoco.

o80_console

Starts to live print information about a pressure robot in the console. Indicate the current pressures, the desired pressures and joint angles. Works for pressure controlled robots started with o80_dummy, o80_real or pam_mujoco.

Known bug : will crash if the terminal is not broad enough.

o80_introspection

Debug tool for o80. It will display live the status of all command exchange between the frontend and the backend of a o80 system running on the provided segment_id.

o80_logger

Starts a process that will collect data regarding a pressure controlled robot. See tutorial 5

pam_server

pam_server is a low level interface to either a dummy or the real pam robot. See here for more information.

pam_check

Started after pam_server, will increase then decrease the pressure of each muscles. See here for more information.

o80_check

Similar to pam_check, but to be started after o80_real, o80_dummy or pam_mujoco (if simulating a pressure controlled robot)

o80_swing_demo

Has a pressure robot executing a series of swing motions, to be started after o80_real, o80_dummy or pam_mujoco (if simulating a pressure controlled robot)

pam_mirroring_real_robot

see this page.