Sophiar2/tests/data/ndi_stabilizer_config.json

{
  "controller_port": 5277,
  "variable_list": [
    {
      "name": "probe_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "probe_uncertainty",
      "type": "double_obj"
    },
    {
      "name": "tip_in_tracker",
      "type": "scalarxyz_obj"
    },
    {
      "name": "picked_tip_in_tracker",
      "type": "scalarxyz_obj"
    },
    {
      "name": "picked_probe_in_tracker",
      "type": "transform_obj"
    }
  ],
  "object_list": [
    {
      "type": "ndi_interface",
      "name": "ndi",
      "init_config": {
        "address_type": "ethernet",
        "ip": "169.254.132.51",
        "tcp_port": 8765,
        "com_port": "COM3",
        "tool_list": [
          {
            "rom_path": "D:\\Program\\Robot\\Tools\\roms\\Probe_Small_4Ball.rom",
            "outputs": {
              "transform": "probe_in_tracker",
              "marker_uncertainty": "probe_uncertainty"
            }
          }
        ]
      },
      "start_config": {
        "allow_unreliable": true,
        "prefer_stream_tracking": true
      }
    },
    {
      "type": "scalarxyz_transformer",
      "name": "probe_tip_transformer",
      "start_config": {
        "transform_type": "point",
        "transform_var_name": "probe_in_tracker",
        "target_value": [
          -0.02,
          -0.92,
          1.54
        ],
        "output_var_name": "tip_in_tracker"
      },
      "dependencies": [
        "ndi"
      ]
    },
    {
      "type": "transform_stabilizer",
      "name": "point_picker",
      "start_config": {
        "stable_type": "point",
        "input_var_name": "tip_in_tracker",
        "output_var_name": "picked_tip_in_tracker",
        "linear_tolerance_mm": 0.02,
        "angular_tolerance_deg": 0.01,
        "temporal_interval_s": 1.5,
        "counting_interval": 150
      },
      "dependencies": [
        "probe_tip_transformer"
      ]
    },
    {
      "type": "scalarxyz_obj_watcher",
      "name": "picked_point_watcher",
      "start_config": {
        "variable_name": "picked_tip_in_tracker"
      }
    },
    {
      "type": "transform_stabilizer",
      "name": "transform_picker",
      "start_config": {
        "stable_type": "transform",
        "input_var_name": "probe_in_tracker",
        "output_var_name": "picked_probe_in_tracker",
        "linear_tolerance_mm": 0.02,
        "angular_tolerance_deg": 0.01,
        "temporal_interval_s": 3,
        "counting_interval": 150
      },
      "dependencies": [
        "ndi"
      ]
    },
    {
      "type": "transform_obj_watcher",
      "name": "picked_transform_watcher",
      "start_config": {
        "variable_name": "picked_probe_in_tracker"
      }
    },
    {
      "type": "empty_object",
      "name": "all",
      "dependencies": [
        "point_picker",
        "picked_point_watcher",
        "transform_picker",
        "picked_transform_watcher"
      ]
    }
  ]
}