Sophiar2/tests/data/fracture_robot_interface_config.json

{
  "controller_port": 5277,
  "variable_list": [
    {
      "name": "ref_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "bone_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "robot_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "target_in_robot",
      "type": "transform_obj"
    },
    {
      "name": "bone_in_robot",
      "type": "transform_obj"
    },
    {
      "name": "bone_in_ref",
      "type": "transform_obj"
    },
    {
      "name": "collect_result",
      "type": "transform_obj"
    },
    {
      "name": "robot_control_mode",
      "type": "u64int_obj"
    },
    {
      "name": "robot_is_moving",
      "type": "bool_obj"
    }
  ],
  "object_list": [
    {
      "type": "transform_tree",
      "name": "transform_tree",
      "init_config": {
        "node_list": [
          {
            "name": "tracker"
          },
          {
            "name": "ref",
            "parent": "tracker",
            "transform_var_name": "ref_in_tracker"
          },
          {
            "name": "bone_target",
            "parent": "ref",
            "transform": [
              -35.592,
              31.7571,
              -0.923395,
              0.991606,
              0.05668,
              0.0567023,
              -0.101438
            ]
          },
          {
            "name": "bone",
            "parent": "tracker",
            "transform_var_name": "bone_in_tracker"
          },
          {
            "name": "robot",
            "parent": "tracker",
            "transform_var_name": "robot_in_tracker"
          }
        ]
      },
      "start_config": {
        "watch_list": [
          {
            "target": "bone_target",
            "observer": "robot",
            "transform_var_name": "target_in_robot"
          },
          {
            "target": "bone",
            "observer": "robot",
            "transform_var_name": "bone_in_robot"
          },
          {
            "target": "bone",
            "observer": "ref",
            "transform_var_name": "bone_in_ref"
          }
        ]
      }
    },
    {
      "type": "ndi_interface",
      "name": "ndi",
      "init_config": {
        "address_type": "serial",
        "ip": "10.0.0.5",
        "tcp_port": 8765,
        "com_port": "COM9",
        "tool_list": [
          {
            "rom_path": "D:\\Program\\Robot\\Tools\\roms\\TZL_Ref.rom",
            "outputs": {
              "transform": "ref_in_tracker"
            }
          },
          {
            "rom_path": "D:\\Program\\Robot\\Tools\\roms\\TZL_Bone.rom",
            "outputs": {
              "transform": "bone_in_tracker"
            }
          },
          {
            "rom_path": "D:\\Program\\Robot\\Tools\\roms\\TZB_Robot.rom",
            "outputs": {
              "transform": "robot_in_tracker"
            }
          }
        ]
      },
      "start_config": {
        "allow_unreliable": true,
        "prefer_stream_tracking": false
      }
    },
    {
      "type": "transform_obj_validity_watcher",
      "name": "ref_visibility_watcher",
      "start_config": {
        "variable_name": "ref_in_tracker"
      }
    },
    {
      "type": "transform_obj_validity_watcher",
      "name": "bone_visibility_watcher",
      "start_config": {
        "variable_name": "bone_in_tracker"
      }
    },
    {
      "type": "transform_obj_validity_watcher",
      "name": "robot_visibility_watcher",
      "start_config": {
        "variable_name": "robot_in_tracker"
      }
    },
    {
      "type": "fracture_robot_interface",
      "name": "frac_robot",
      "init_config": {
        "com_port": "COM4",
        "screw": {
          "top": {
            "origin": [
              193.62,
              274.24,
              -169.95
            ],
            "direction": [
              0.2580,
              -0.8932,
              -0.3682
            ]
          },
          "side": {
            "origin": [
              225.42,
              262.80,
              -195.37
            ],
            "direction": [
              0.9044,
              0.4147,
              0.1004
            ]
          }
        }
      },
      "start_config": {
        "input_config": {
          "max_velocity": 5.0,
          "controller_gain": 0.5,
          "control_mode": "cartesian",
          "current_tcp": "bone_in_robot",
          "target_tcp": "target_in_robot"
        },
        "output_config": {
          "current_control_mode": "robot_control_mode",
          "is_moving": "robot_is_moving"
        }
      },
      "dependencies": [
        "transform_tree",
        "ndi"
      ]
    },
    {
      "type": "empty_object",
      "name": "all",
      "dependencies": [
        "frac_robot",
        "ref_visibility_watcher",
        "bone_visibility_watcher",
        "robot_visibility_watcher"
      ]
    },
    {
      "type": "transform_stabilizer",
      "name": "target_collector",
      "start_config": {
        "stable_type": "transform",
        "input_var_name": "bone_in_ref",
        "output_var_name": "collect_result",
        "linear_tolerance_mm": 0.05,
        "temporal_interval_s": 3
      },
      "dependencies": [
        "ndi"
      ]
    },
    {
      "type": "transform_obj_watcher",
      "name": "result_watcher",
      "start_config": {
        "variable_name": "collect_result"
      }
    },
    {
      "type": "empty_object",
      "name": "collect",
      "dependencies": [
        "target_collector",
        "result_watcher",
        "transform_tree"
      ]
    }
  ]
}