[SOLVED] Modifying The Trunk Example

[Abdelrahman]

Hello all

I’m trying to modify the Trunk example to create data, I added a python controller script and it works fine to some point. I initialize the data I want to save in the initGraph function of the controller as pointed in the attached code and collecting the data in the onEndAnimationStep function. I tried to save data in the onKeyPressed function but it won’t save, also tried to save it from the onEndAnimationStep for example every 100 count of dt but also the same. Sorry for the long code but I would appreciate it if you could point me what is missing here. I’m using the compiled version of SOFA with the SoftRobots. Thanks.

#!/usr/bin/env python
# -*- coding: utf-8 -*-
import Sofa
import math
import csv 
import os

class controller(Sofa.PythonScriptController):

    def initGraph(self, node):

            print '### controller called ###'
            
            self.node = node
            self.Simulation=self.node.getChild("Simulation")
            self.Trunk=self.Simulation.getChild("Trunk")
            
            # Get the cables from the parent Trunk
            self.cableL0=self.Trunk.getChild('cableL0')
            self.cableL1=self.Trunk.getChild('cableL1')
            self.cableL2=self.Trunk.getChild('cableL2')
            self.cableL3=self.Trunk.getChild('cableL3')
            
            self.cableS0=self.Trunk.getChild('cableS0')
            self.cableS1=self.Trunk.getChild('cableS1')
            self.cableS2=self.Trunk.getChild('cableS2')
            self.cableS3=self.Trunk.getChild('cableS3')
            
            # you can access the object through its name
            self.cableL0Acutator = self.cableL0.getObject('cable')
            self.cableL1Acutator = self.cableL1.getObject('cable')
            self.cableL2Acutator = self.cableL2.getObject('cable')
            self.cableL3Acutator = self.cableL3.getObject('cable')
            
            self.cableS0Acutator = self.cableS0.getObject('cable')
            self.cableS1Acutator = self.cableS1.getObject('cable')
            self.cableS2Acutator = self.cableS2.getObject('cable')
            self.cableS3Acutator = self.cableS3.getObject('cable')
            
            self.Effector = self.Trunk.getChild('Effectors')
            
            self.endEffector = self.Effector.getObject('myEndEffector')
            
            self.dataRows = []
            self.dataRows.append(['cableL0Length','cableL0Disp', 'cableL1Length', 'cableL1Disp', 'cableL2Length', 'cableL2Disp', 'cableL3Length', 'cableL3Disp',
            'cableS0Length', 'cableS0Disp', 'cableS1Length', 'cableS1Disp', 'cableS2Length', 'cableS2Disp', 'cableS3Length', 'cableS3Disp', 'effectorPosition'])
            
            self.incr = 0
            

    def onEndAnimationStep(self, dt):
            self.dt = self.node.findData('dt').value
            self.incr += self.dt
            #cableL0LengthIO = SofaPython.Tools.ComponentDataIO(self.cableL0Acutator, ["cableLength"])

            
            # values required [displacement] [cableLength]
            cableL0Length = self.cableL0Acutator.findData('cableLength').value
            cableL1Length = self.cableL1Acutator.findData('cableLength').value
            cableL2Length = self.cableL2Acutator.findData('cableLength').value
            cableL3Length = self.cableL3Acutator.findData('cableLength').value
            
            cableS0Length = self.cableS0Acutator.findData('cableLength').value
            cableS1Length = self.cableS1Acutator.findData('cableLength').value
            cableS2Length = self.cableS2Acutator.findData('cableLength').value
            cableS3Length = self.cableS3Acutator.findData('cableLength').value
            
            cableL0Disp = self.cableL0Acutator.findData('displacement').value
            cableL1Disp = self.cableL1Acutator.findData('displacement').value
            cableL2Disp = self.cableL2Acutator.findData('displacement').value
            cableL3Disp = self.cableL3Acutator.findData('displacement').value
            
            cableS0Disp = self.cableS0Acutator.findData('displacement').value
            cableS1Disp = self.cableS1Acutator.findData('displacement').value
            cableS2Disp = self.cableS2Acutator.findData('displacement').value
            cableS3Disp = self.cableS3Acutator.findData('displacement').value
            
            effectorPosition = self.endEffector.findData('position').value
            
            self.dataRows.append([cableL0Length, cableL0Disp, cableL1Length, cableL1Disp, cableL2Length, cableL2Disp, cableL3Length, cableL3Disp,
            cableS0Length, cableS0Disp, cableS1Length, cableS1Disp, cableS2Length, cableS2Disp, cableS3Length, cableS3Disp, effectorPosition])

            #print self.dataRows
            #print cableL0LengthIO
            # next will save it to file
           
    def onKeyPressed(self,c):
            path = os.path.dirname(os.path.abspath(__file__))+'/data/'
            filename = path+'data.csv'
            if (c == "q"):
                with open(filename, 'w') as csvfile:
                    # creating a csv writer object  
                    csvwriter = csv.writer(csvfile)  
                        
                    # writing the fields  
                    csvwriter.writerow(self.dataRows)

[Abdelrahman]

I was able to solve the problem by adding this lines of codes to the function
onEndAnimationStep

filename = './data/data.csv'
            if len(self.dataRows)%10==0:
                with open(filename, 'w') as file:
                    writer = csv.writer(file)
                    writer.writerows(self.dataRows)

but still the sofa framework did not respond to onKeyPressed function by pressing any key.

Also I’m facing this error
[ERROR] [MechanicalObject(MousePosition)] Invalid vOp operation 1 (null(V_DERIV),0(0),null(V_DERIV),100)
[ERROR] [MechanicalObject(MappedMousePosition)] Invalid vOp operation 1 (null(V_DERIV),0(0),null(V_DERIV),100)

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