Question about step function and configurations

[WilliamHangXu]

Hi all, I've been trying to set up a cable actuated robot finger simulation called Finger using SofaGym, following the Cartpole tutorial and the Trunk example. However, the behavior of the environment I set up differs from what I expected:

1. I noticed that, when I call the step function, the action function displace (like the one in Trunk environment's Toolbox file) is actually called more than once. The number of times the action gets called per step seems to depend on the duration parameter in the startCmd_Finger function, which in turn is determined by dt and scale_factor. I read the previous discussion post and tried to change these two values so that Sofa.Simulation.animate only runs once, but the number of times the action gets called is still no less than 2. Could anyone please explain the design idea behind this? Should I set up the environment such that the action only gets called onece every time I call the step function?
2. The action of my environment is the displacement of cable. I tried to increase the displacement by 1 in both the sofagym environment (by calling the step function such that the final displacement is 1) and the pure sofa scene (by running runSofa FingerScene.py and then changing the displacement via keyboard) and then record the final position of a certain dof after the finger gets stable. However, the two positions I recorded were different. What could be the possible reason for this?
   Thank you!

[hugtalbot]

Hi @WilliamHangXu
Let me contact @samuelmyoussef

[WilliamHangXu]

Thank you! Here's my set up for the environment if that helps: https://github.com/WilliamHangXu/SofaGym-Test/tree/main/sofagym/envs/Finger

[hugtalbot]

poke @samuelmyoussef

[github-actions[bot]]

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@WilliamHangXu
Feedback has been given to you by the project reviewers, however we have not received a response from you. Without further news in the coming weeks, this discussion will be automatically closed in order to keep this forum clean and fresh 🌱 Thank you for your understanding

[github-actions[bot]]

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@WilliamHangXu
In accordance with our forum management policy, the last reply is more than 4 months old and is therefore closed. Our objective is to keep the forum up to date and offer the best support experience.

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