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working_test.py
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working_test.py
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from stlib3.physics.deformable import ElasticMaterialObject
from stlib3.physics.constraints import FixedBox
# -*- coding: utf-8 -*-
from softrobots.actuators import PullingCable
from splib3.loaders import loadPointListFromFile
import Sofa.Core
import Sofa.constants.Key as Key
import numpy as np
import socket
import json
import time
# Configuración del socket TCP
server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server_socket.bind(('localhost', 12345))
server_socket.listen(1)
class AnkleController(Sofa.Core.Controller):
def __init__(self, *args, **kwargs):
Sofa.Core.Controller.__init__(self, args, kwargs)
self.cable = args[0][0]
self.cable2 = args[0][1]
self.cable3 = args[0][2]
self.cable4 = args[0][3]
self.endeffector=args[1]
self.dts=0.02
self.t=0
self.error=np.array([0,0,0])
self.realPosition=np.array(self.endeffector.position.value)[0]
self.rate=10
self.name = "AnkleController"
self.start_conection()
def start_conection(self):
print("Esperando conexión de MATLAB...")
self.conn, self.addr = server_socket.accept()
print(f"Conectado a: {self.addr}")
def send(self,positionEndEffector):
posiciones_robot = {'posiciones': positionEndEffector} # Aquí colocarías los datos reales de SOFA
posiciones_json = json.dumps(posiciones_robot)
# Enviar posiciones a MATLAB
self.conn .sendall(posiciones_json.encode('utf-8'))
def receive(self):
datos_control = self.conn.recv(1024).decode('utf-8')
controlSignal = json.loads(datos_control)
print(f"Acciones de control recibidas: {controlSignal}")
return controlSignal["actuadores"]
def onAnimateBeginEvent(self, event): # called at each begin of animation step
self.t=self.t+self.dts
self.realPosition=np.array(self.endeffector.position.value)[0]
self.send(self.realPosition.tolist())
self.error=self.receive()
print(type(self.error),"-----------------------------------------------------------")
if self.error[0]!=0:
self.pitch(self.error[0])
if self.error[2]!=0:
self.roll(self.error[2])
def pitch(self,value):#turn axe x
displacement = self.cable.CableConstraint.value[0]
displacement2 = self.cable2.CableConstraint.value[0]
displacement3 = self.cable3.CableConstraint.value[0]
displacement4 = self.cable4.CableConstraint.value[0]
rate=abs(value)
if value>0:
displacement2 += rate
displacement4 -= rate
else:
displacement4 += rate
displacement2 -= rate
self.cable.CableConstraint.value = [displacement]
self.cable2.CableConstraint.value = [displacement2]
self.cable3.CableConstraint.value = [displacement3]
self.cable4.CableConstraint.value = [displacement4]
def roll(self,value):#turn axe z
displacement = self.cable.CableConstraint.value[0]
displacement2 = self.cable2.CableConstraint.value[0]
displacement3 = self.cable3.CableConstraint.value[0]
displacement4 = self.cable4.CableConstraint.value[0]
rate=abs(value)
if value>0:
displacement += rate
displacement3 -= rate
else:
displacement3 += rate
displacement -= rate
self.cable.CableConstraint.value = [displacement]
self.cable2.CableConstraint.value = [displacement2]
self.cable3.CableConstraint.value = [displacement3]
self.cable4.CableConstraint.value = [displacement4]
def onKeypressedEvent(self, e):
displacement = self.cable.CableConstraint.value[0]
displacement2 = self.cable2.CableConstraint.value[0]
displacement3 = self.cable3.CableConstraint.value[0]
displacement4 = self.cable4.CableConstraint.value[0]
rate=100
if e["key"] == Key.rightarrow:
displacement += rate
displacement3 -= rate
elif e["key"] == Key.leftarrow:
displacement3 += rate
displacement -= rate
if e["key"] == Key.uparrow:
displacement2 += rate
displacement4 -= rate
elif e["key"] == Key.downarrow:
displacement4 += rate
displacement2 -= rate
# print("C1",displacement)
self.cable.CableConstraint.value = [displacement]
self.cable2.CableConstraint.value = [displacement2]
self.cable3.CableConstraint.value = [displacement3]
self.cable4.CableConstraint.value = [displacement4]
# if displacement >= 0:
# self.cable.CableConstraint.value = [displacement]
def Ankle(parentNode=None, name="Ankle",
rotation=[0.0, 45.0, 0.0], translation=[0.0, 0.0, 0.0],
fixingBox=[-30, -10, -30, 30, 10, 30]):
Ankle = parentNode.addChild(name)
from stlib3.physics.deformable import ElasticMaterialObject
from stlib3.physics.constraints import FixedBox
femAnkle = ElasticMaterialObject(Ankle,
volumeMeshFileName="ankle.vtk",
poissonRatio=0.3,
youngModulus=18000,
totalMass=1.0,
surfaceColor=[0.0, 0.8, 0.7, 1.0],
surfaceMeshFileName="ankle.stl",
rotation=rotation,
translation=translation,
scale=[10.0, 10.0, 10.0])
Ankle.addChild(femAnkle)
FixedBox(femAnkle,
doVisualization=True,
atPositions=fixingBox)
cable =femAnkle.addChild("cable")
cables=[]
cables.append(PullingCable(cable, valueType="force",name="cable1",cableGeometry=loadPointListFromFile("/config/cable1.json")))
cables.append(PullingCable(cable, valueType="force",name="cable2", cableGeometry=loadPointListFromFile("cable2.json")))
cables.append(PullingCable(cable, valueType="force",name="cable3", cableGeometry=loadPointListFromFile("cable3.json")))
cables.append(PullingCable(cable, valueType="force",name="cable4", cableGeometry=loadPointListFromFile("cable4.json")))
effector = femAnkle.addChild('fingertip')
effector.addObject('MechanicalObject', position=[0, 100, 0],name="endeffector")
# effector.addObject('PositionEffector', template='Vec3', name="Efector_final",
# indices=0,
# effectorGoal=goal.goalMO.position.value)
effector.addObject('BarycentricMapping', mapForces=False, mapMasses=False)
Ankle.addObject(AnkleController(cables,effector.endeffector))
return femAnkle
def createScene(rootNode):
# -*- coding: utf-8 -*-
from stlib3.scene import MainHeader
m = MainHeader(rootNode, plugins=["SoftRobots"])
rootNode.VisualStyle.displayFlags = "showBehavior showCollisionModels"
m.getObject("VisualStyle").displayFlags = 'showForceFields showBehaviorModels showInteractionForceFields'
m.addObject("FreeMotionAnimationLoop")
m.addObject("GenericConstraintSolver", maxIterations=250, tolerance=1e-20)
m.addObject('QPInverseProblemSolver', printLog=False)
Ankle(rootNode)
return rootNode