Interaction with Geomagic Touch using SofaPython3

[chiarasapo]

Hi! I’m working with the Geomagic Touch device and SofaPython3 and I’ve created a simple patch of skin that i want to feel with the device. However, even though i can interact with the skin via the mouse, I cannot do that with the geomagic: i can just feel a resistance but the skin doesn’t move or deform. I can’t understand where i made an error, so I uploaded my code https://drive.google.com/drive/folders/14gJR-nMY60QFbq7ZbGHYUnzdXlApDtom?usp=sharing if you could just give it a look.
Any help would be very appreciated.
Thanks in advance and have a nice day!

[Hugo]

Ciao @chiarasapo

Thanks for sharing your code, it helps in assisting you!
I did not test it because I do not have the Geomagic plugin compiled here.

But could you try to set a data compliance in the UncoupledConstraintCorrection of the skin :

    skin.addObject('UncoupledConstraintCorrection', compliance=0.001)

and tell me if it moves?
If it works I would explain 😉

Hugo

[chiarasapo]

Hi! Thank you for your answer! Unfortunately it doesn’t seem to work for me

[Hugo]

Ciao @chiarasapo

Sorry for keeping you waiting, the organization of the STC#11 is keeping us busy.

Thank you for your feeback.
Would you be able to make us a video of your interaction?
Could you try to activate the View option “Interaction” and “Collision Models” (in the left hand side panel)?
Do you have an idea of the approximate volume of your object?
If I compare to the scene Geomagic-RigidSkull.scn I see that the VectorSpringForceField are missing, right?

Best,

Hugo

[chiarasapo]

Hi @Hugo, I’m sorry for my late reply but I did not have access to the Geomagic these weeks. Now I have uploaded some brief videos of the interaction Skin-Geomagic on the same folder at https://drive.google.com/drive/folders/14gJR-nMY60QFbq7ZbGHYUnzdXlApDtom?usp=sharing . As you can see I am able to interact with the skin via mouse but not via the Geomagic. Thank you again for your help,
Have a good day,
Chiara

[chiarasapo]

Good evening,
I know this post is a little old but I still did not resolve the issue. My main problem is the fact that the interaction between the Geomagic Touch device and the object in the scene (the skin) is unnatural: the haptic feedback is a strong vibration and the skin itself does not deform. Does anyone working with the Geomagic Plugin have any suggestions?
Thank you very much in advance,
Chiara

[Hugo]

Ciao @chiarasapo

How did you define the physics of the “skin” object? It seems to have a very high stiffness and mass compared to the instrument. Therefore, the force feedback resulting is high. You could try to increase the mass of your instrument. A last parameter to adapt could be the stiffness of the RestShapeSpringsForceField.

Looking forward to hearing from you.
Best wishes,

Hugo

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