Changing BeamAdapter controls from keyboard to a PC controller

[morrismoose]

Hello,

I'm working on a project to have external control over the BeamAdapter simulation. I want the Interventional radiology controls to be controlled with a PC/videogame controller. Right now, my approach is to modify the files in the controller file. Mainly InterventionalRadiologyController.inl and BeamAdapterActionController.inl where the control keys for the simulation are set. But editing these files has no effect on the simulation.
Is there a way to modify the simulation controls? Ideally without having to re-configure my SOFA build.

[hugtalbot]

Hi @morrismoose

The BeamAdapterActionController has a data named "actions" and "actionString" to edit the controls.
You can see here in the C++ code the various controls available.

See the scene example here: https://github.com/sofa-framework/BeamAdapter/blob/master/examples/3instruments_collis.scn#L95-L97

[morrismoose]

Thank you!
I created a controller class to read in values actions and timeSteps action from a textfile.

[CorradoV]

Hi! I was struggling with the same problem, but I am trying to control the beam trough a python controller, have you tried to do that?

[hugtalbot]

I let you share your script @morrismoose with @CorradoV

[CorradoV]

Thank you @hugtalbot, I think I figured out how to modify some parameters contained in InterventionalRadiologyController in a python controller in order to rotate and translate the single tubes. Now I have another doubt, is it possible to control simultaneously multiple tubes (for example translate at the same moment two tubes or rotate a tube and translate another) ? Thank you again

[ozilxu]

Hello, is that possible to control the beam using the linear ball screw actuator? If I want to simulate a multi-backbone continuum robot, how can I develop a controller with the QP? Many thanks!

[hugtalbot]

Hi @ozilxu

I am not aware of this "linear ball screw actuator". Could you detail more? Do not hesitate to open a discussion, and possibly a discussion on the SoftRobots repository since it concerns the QP solver.

Cheers

[ozilxu]

Hi Hugo, linear ball screw actuator means a linear or sliding actuator providing a linear motion to the robot. I have found the scene following Quentin's suggestion. Many thanks!