More info: Mirroring real robot

To get a MuJoCo simulation to mirror the real robot, first, start the real robot:

o80_pamy2
# or o80_pamy1

The o80_pamy1 or o80_pamy2 executables request you to enter a segment_id (real_robot as default). Take note of it.

Alternatively, you may also start a mujoco simulated robot that uses pressure control, see for example the three first tutorials. In the terminal, take note of the frontend related to the robot control, e.g. my_robot in this output:

adding controller:
	robot: pressure control, segment_id: my_robot, configurations:
		controller: /opt/mpi-is/pam_interface/pam.json
		agnonist muscles: /opt/mpi-is/pam_models//hill.json
		antagonist muscles: /opt/mpi-is/pam_models//hill.json

Then, start an instance of pam_mujoco with mujoco_id “mirroring”:

pam_mujoco mirroring

Finally, start:

pam_mirroring_real_robot

In the dialog, use the value mirroring for mujoco_id_mirroring, and the segment_id you took note of for segment_id_real_robot.