o80_pam is a wrappers over pam_interface providing o80 functionalities.
This documentation assumes you are familiar with both pam_interface and o80.
Follow the general guidelines, using either the treep project "PAM" or the treep project "PAM_MUJOCO" (if you'd like to use o80_pam over a PAM robot simulated by Mujoco).
If using mujoco, you also need to copy a mujoco licence key (mjkey.txt) in the folder /opt/mujoco/ (create the folder is necessary).
In terminal, assuming the workspace has been sourced :
To get some documentation:
o80_pam -h
To start a server over a dummy robot (no real physics, no graphics, just for debugging purposes):
o80_pam
To start a server over a mujoco simulated robot:
o80_pam mujoco
To start a server over the real robot (on cent-os control desktop, assuming you follow the procedure provided in the pam_interface documentation)
o80_pam real
Once the o80 server started, you may check all is working fine by running in another terminal :
o80_pam_check
This executable will changes the pressure on each muscle one by one.
o80_pam_lengthcables
You may send commands to the robot and receiving observations from it via an o80 based API. The o80 API is fully supported. To get an example of usage of this PAI, see the demos folder. For example, this demo.
Once a o80_pam server is started:
pam_mujoco_mirroring