A question: Coupling SOFA with MATLAB

[brats2017]

Hello,
I am looking for a soft robotic toolbox in MATLAB to start my project. In the first step, I wanted to find a previously developed soft actuator model in MATLAB and apply a control method to it.
I have a question from your interesting SOFA platform:
Could you please let me know whether it is possible to couple SOFA with MATLAB to apply a different control method on a soft actuator proposed in SOFA?
Thanks in advance

[artXuRo]

Hello,
I tried to use UDP to connect Sofa with Simulink. It seems working, but the question remains.
When I start Simulink and Sofa, the data can transfer only one time, then Sofa has no response and the software is broken.
here is my part of code about UDP communication with Simulink.
Hope it can help you.

class FingerController(Sofa.Core.Controller):
    def __init__(self, *args, **kwargs):
        Sofa.Core.Controller.__init__(self, *args, **kwargs)
        # self.node1 = kwargs["node1"]
        # self.node2 = kwargs["node2"]
        # self.node3 = kwargs["node3"]
        self.cable1 = args[0]
        self.cable2 = args[1]
        self.cable3 = args[2]
        self.finger = args[3]
        self.udp_begin = False
        self.name = "FingerController"
        self.time = 0.0
        self.time1 = self.finger.time

        return

    def udp_initial(self):
        # ----------------------UDP------------------------------------#
        # ------------------Initializing-------------------------------#

        # create socket
        self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        # define input , output address and port
        self.localaddr = ("127.0.0.1", 5005)
        self.outputaddr = ("127.0.0.1", 5006)
        self.udp_socket.bind(self.localaddr)
        self.udp_begin = True
        print("UDP has been opened, please open the Simulink")



    # control each cable with 415263
    def onKeypressedEvent(self, c):
        changevalue = 0.5
        if c["key"] == Key.KP_4:
            displacement1 = self.cable1.CableConstraint.value.value[0] + changevalue
            self.cable1.CableConstraint.value = [displacement1]
        if c["key"] == Key.KP_1:
            displacement1 = self.cable1.CableConstraint.value.value[0] - changevalue
            self.cable1.CableConstraint.value = [displacement1]
        if c["key"] == Key.KP_5:
            displacement2 = self.cable2.CableConstraint.value.value[0] + changevalue
            self.cable2.CableConstraint.value = [displacement2]
        if c["key"] == Key.KP_2:
            displacement2 = self.cable2.CableConstraint.value.value[0] - changevalue
            self.cable2.CableConstraint.value = [displacement2]
        if c["key"] == Key.KP_6:
            displacement3 = self.cable3.CableConstraint.value.value[0] + changevalue
            self.cable3.CableConstraint.value = [displacement3]
        if c["key"] == Key.KP_3:
            displacement3 = self.cable3.CableConstraint.value.value[0] - changevalue
            self.cable3.CableConstraint.value = [displacement3]
        if c["key"] == Key.KP_7:
            self.udp_initial()
            self.udp_begin = True
        if c["key"] == Key.KP_8:
            self.udp_begin = False
            self.udp_socket.close()
        list111 = (
            self.cable1.CableConstraint.value, self.cable2.CableConstraint.value, self.cable3.CableConstraint.value)
        print(list111)
        print("Simulation time is: " + str(self.finger.time.value))

    def onAnimateBeginEvent(self, event):
        while self.udp_begin:
            # read UDP data from simulink
            if self.time1.value-self.time>1:
                recv_data = self.udp_socket.recvfrom(8192)  # TODO： Determine if the signal is present
                recv_msg = recv_data[0]  # data
                send_addr = str(recv_data[1])  # matlab address
                recv_msg_decode = struct.unpack("d",recv_msg)[0]
                print("Data from MATLAB %s is : %s" % (send_addr, recv_msg_decode))

                # send message to matlab
                pos = np.matrix(self.finger.dofs.position.value[23])
                out_msg = struct.pack('d', pos[0])
                self.udp_socket.sendto(out_msg, self.outputaddr)
                print("sent message" + str(pos[0]))
                print(self.finger.dofs.position.value[23])
                self.time = self.time1.value

Regards.
Art

[brats2017]

Thank you so much for your reply. The codes you provided would be helpful to me.

[hugtalbot]

thanks a lot @artXuRo for providing the code 👍!

@brats2017 do not hesitate to keep us updated about your work.
Obviously feel free to open any new topic if needed or to help any new users of SOFA as @artXuRo successfully did!