alantes / rl-for-msrs Goto Github PK

Hi alantes,

I have been going though your paper. Very nice paper. However, I have a question about the units in your code. In the paper, your robot is in size of 20mm * 8mm * 0.8mm with Young's modulus and density setting to 84.5kPa and 1860kg/m^3 respectively. However, in your following code, you set length = 20, but Young's modulus = 84.5*10^6 and density = 1860.

So I am thinking which units you are using?

Looking forward to your reply. Thanks for advance.

i run python main.py (in before_finetuned/magnetization1_4mT) , but i got this error:

Total steps 200000
Total learning steps per simulation 2000
Traceback (most recent call last):
File "/home/tianyu/code/msr/RL-for-MSRs/Code and Models/before_finetuned/magnetization1_4mT/main.py", line 47, in
observation = env.reset()
File "/home/tianyu/code/msr/RL-for-MSRs/Code and Models/before_finetuned/magnetization1_4mT/set_environment.py", line 132, in reset
self.shearable_rod = CosseratRod.straight_rod(
File "/home/tianyu/anaconda3/envs/msr/lib/python3.9/site-packages/elastica/rod/cosserat_rod.py", line 297, in straight_rod
raise ValueError(
ValueError: The option to set damping coefficient (nu) for the rod during rod
initialisation is now deprecated. Instead, for adding damping to rods,
please derive your simulation class from the add-on Damping mixin class.
For reference see the class elastica.dissipation.AnalyticalLinearDamper(),
and for usage check examples/axial_stretching.py