General Documentation

Table of Content: Index

• Overview and software installation
  • Overview
  • Software installation
    • From tar archives
      • binaries
      • sources
      • mujoco key
    • Via colcon workspace
      • Adding your ssh key to github
      • Dependencies and configuration folder
      • mujoco key
      • Cloning the repositories
      • Compilation
    • Activating the workspace
    • Checking things are ok
• Tutorial 0: How to run tutorial demos
• Tutorial 1: Commands
  • Starting a Mujoco simulated robot
  • Introduction to commands
  • add_command overloads
    • controlling only selected muscle(s)
    • controlling a degree of freedom
    • controlling all muscles
    • speed commands
    • direct commands
    • Iteration command
  • Introduction to handles
• Tutorial 2: reading robot data
  • Reading robot data
• Tutorial 3: iteration commands
  • Introduction
  • Getting the current iteration number
  • waiting for an iteration
  • example
  • synchronizing the frontend and the backend
  • relative iteration
• Tutorial 4: join control, table, balls, etc
  • Tutorial’s demo
  • Handle and mujoco xml files
    • Model factory
  • Interacting with objects
    • Interacting with a ball
    • Detecting contact
    • Playing a recorded ball trajectory
    • Hybrid: controlling a ball until contact
  • Goal, HitPoint
  • Joint Control
• Tutorial 5: saving data to files
  • Dumping data
    • Via executable
    • Via Python API
  • Reading the data
    • Via executable
    • Via Python API
• Tutorial 6: bursting mode
  • Introduction
  • Example
  • Bursting on real robot
  • Master frequency
  • Bursting with table, ball, etc
• More info: Mujoco handle and contacts
  • Robot(s)
    • MujocoRobot
    • Interfacing with robots
      • Pressure controlled
      • Joint controlled
  • Items and contacts (balls, hit points, goals …)
    • MujocoItem
    • Contacts
      • Contacts and handle
      • Customized contacts
• More info: Using the real robot
  • method 1: PAM Interface
    • Robot overview
    • Installation
      • On ubuntu
      • On the control desktop
    • Usage
      • starting the server
      • printed data
      • sending desired pressures and reading sensors
    • Starting the real robot
    • Checking the robot
  • Method 2: O80 PAM
    • Installation
    • Usage
      • Starting a o80 server
      • Checking all is working
      • Performing a series of swing motion
      • Python user code
• More info: list of executables
  • Dialog
  • o80_dummy
  • o80_real
  • pam_mujoco
  • pam_mujoco_no_xterms
  • pam_mujoco_visualization
  • pam_mujoco_stop
  • pam_mujoco_stop_all
  • o80_plotting
  • o80_console
  • o80_introspection
  • o80_logger
  • pam_server
  • pam_check
  • o80_check
  • o80_swing_demo
• Developer’s guide 1: tools
  • Github
  • Treep
    • installation
    • configuration repository
    • cloning
    • status
    • pull
    • calling from anywhere
  • Ament packages
  • Colcon
    • Overview
    • Compiling only one package
  • Pybind11
  • Unit-tests
• Developer’s guide 2: guidelines
  • Working on a git branch
  • code update
    • unit-tests
    • demos
    • documentation
    • formatting and guidelines
      • installation
      • usage
  • Merging to master branch
• Developer’s guide 3: packages overview
• Developer’s guide 4: advanced overview
  • mujoco model xml file
  • mujoco controller
    • MirrorRobot (poor naming, it just means “position and velocity control of the robot”)
    • PressureController
  • Relation between the model xml file and the controllers
  • Relation between o80 and controllers
  • Putting things together
  • C++ and Python