Instant controler and simulation about pyelastica HOT 6 CLOSED

Hi @Junang-Wang

Although we have hooked up PyElastica with RL and model based controllers we haven't haven't tried controlling PyElastica rods with keyboard. Depending on the properties of the rod (soft rods) you can achieve real time simulations. Then you can design the interface with a keyboard controller to achieve your goal.

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HI @Junang-Wang,
Here's a code snippet to help you with controlling the rod with your keyboard. I modified the AxialStretchingCase example to control the stretching force using the keyboard:

# ea.integrate(timestepper, stretch_sim, final_time, total_steps)
# modify the loop in ea.integrate to work with keyboard press

from elastica.timestepper import extend_stepper_interface
from tqdm import tqdm
import keyboard

do_step, stages_and_updates = extend_stepper_interface(timestepper, stretch_sim)

dt = np.float64(float(final_time) / total_steps)
time = 0

for i in tqdm(range(total_steps)):
    time = do_step(timestepper, stages_and_updates, stretch_sim, time, dt)
    if keyboard.is_pressed('a'):
        print("a is pressed")
        end_force[:] += dt*np.array([1.0,0.0,0.0]) #increase force when a is pressed (scaled by dt)
    else:
        temp = end_force.copy() -  dt*np.array([1.0,0.0,0.0]) #decrease force when a is not pressed (scaled by dt)
        if temp[0] > 0:
            end_force[:] = temp #if greater than zero then use temp force
        else:
            end_force[:] = np.array([0.0,0.0,0.0]) #if less than zero then use zero force

from pyelastica.

Hi @Junang-Wang,

These might be helpful for the you: Elastica-RL-control, gym-softrobot.

It might also be helpful to look at the definition of integrate in the __init__.py file in elastica/timestepper to understand the code snippet I provided since it is just a modified version of that.

from pyelastica.

Hi @Ali-7800 @armantekinalp, thank you so much for your reply. Ali, your code snippet is very heuristic for me. Do you guys know where I can find the tutorial or document of PyElastica RL and model based controllers modules? I didn't find the information of control/Robotic modules, for example extend_stepper_interface in Ali's code, in the PyElastica doc page https://docs.cosseratrods.org/en/latest/index.html.

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@Ali-7800 Thank you so much for you help.

from pyelastica.

I am closing this issue seems it is resolved

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