[Hugo]

Hi @fayad

I made it work during the night.
Please find the scn and python file below:

<Node name="root" dt="0.02" showBoundingTree="0" gravity="0 0 0">

    <!-- ================================== SETUP ================================== -->
    
    <!-- Collision Dependencies -->
    <VisualStyle displayFlags="" />
    <CollisionPipeline verbose="0" />
    <BruteForceDetection name="N2" />
    <CollisionResponse response="default" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.08" contactDistance="0.05" useSurfaceNormals="false"/>
    <CollisionGroup />
    <!-- Collision Dependencies -->

    <!-- Omni Phantom Plugin & Settings -->
    <RequiredPlugin name="Geomagic plugin" pluginName="Geomagic" />
    <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
    <GeomagicDriver name="GeomagicDevice" deviceName="Default Device" scale="1" drawDeviceFrame="1" positionBase="0 0 0" orientationBase="0 0.707 0 -0.707"  />
    <!-- Omni Phantom Plugin & Settings -->

    <!-- Carving Plugin & Settings -->
    <RequiredPlugin name="Carving" pluginName="SofaCarving" />
    <CarvingManager active="true"/>
    <!-- Carving Plugin & Settings -->

    <PythonScriptController filename="scissors.py" classname="Scissors"/>

    <!-- ================================== SETUP ================================== -->

   

    <!-- ================================== OMNI ================================== -->

    <Node name="Omni">

        <MechanicalObject template="Rigid3d" name="DOFs" position="@GeomagicDevice.positionDevice"/>
        <MechanicalStateController template="Rigid3d" listening="true" mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true"/>

        <Node name="VisuAvatar1" activated="false" >
            <OglModel name="Visual" fileMesh="scissor_very_low_base_origin.obj" color="gray"/>
            <RigidMapping input="@.." output="@Visual" index="0"/>
        </Node>

        <Node name="VisuAvatar2" activated="false" >
            <OglModel name="Visual" fileMesh="scissor_very_low_connector_origin.obj" color="gray"/>
            <RigidMapping input="@.." output="@Visual" index="1"/>
        </Node>

        <Node name="VisuAvatar3" activated="false" >
            <OglModel name="Visual" fileMesh="scissor_very_low_left_tip_origin.obj" color="gray"/>
            <RigidMapping input="@.." output="@Visual" index="2"/>
        </Node>

        <Node name="VisuAvatar4" activated="false" >
            <OglModel name="Visual" fileMesh="scissor_very_low_right_tip_origin.obj" color="gray"/>
            <RigidMapping input="@.." output="@Visual" index="3"/>
        </Node>

        <Node name="RefModel1" >
            <MeshObjLoader filename="scissor_very_low_base_origin.obj"  name="loader"/>
            <Mesh src="@loader" name="InstrumentCollisionModel"/>
            <MechanicalObject src="@loader" name="instrumentCollisionState" scale="0.2" />
            <RigidMapping />
        </Node>

        <Node name="RefModel2" >
            <MeshObjLoader filename="scissor_very_low_connector_origin.obj"  name="loader"/>
            <Mesh src="@loader" name="InstrumentCollisionModel"/>
            <MechanicalObject src="@loader" name="instrumentCollisionState" scale="0.2" />
            <RigidMapping />
        </Node>

        <Node name="RefModel3" >
            <MeshObjLoader filename="scissor_very_low_left_tip_origin.obj"  name="loader"/>
            <Mesh src="@loader" name="InstrumentCollisionModel"/>
            <MechanicalObject src="@loader" name="instrumentCollisionState" scale="0.2" />
            <RigidMapping />
        </Node>

<!--         <Node name="RefModel4" >
            <MeshObjLoader filename="scissor_very_low_right_tip_origin.obj"  name="loader"/>
            <Mesh src="@loader" name="InstrumentCollisionModel"/>
            <MechanicalObject src="@loader" name="instrumentCollisionState" scale="0.2" />
            <RigidMapping />
        </Node> -->

    </Node>

    <Node name="ScissorPart">

        <MechanicalObject template="Rigid3d" name="DOFs" position="@GeomagicDevice.positionDevice" showObject="1" showObjectScale="02"/>
        <MechanicalStateController template="Rigid3d" listening="true" mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true"/>

            <Node name="RigidScissor" >
                <MeshObjLoader filename="scissor_very_low_right_tip_origin.obj"  name="loader"/>
                <Mesh src="@loader" name="InstrumentCollisionModel"/>
                <MechanicalObject template="Rigid3d" src="@loader" name="rigidInstrumentCollisionState" scale="0.2" />
                <RigidRigidMapping />

                <Node name="RefModel4" >
                    <MechanicalObject name="instrumentCollisionState" />
                    <IdentityMapping />
                </Node>
            </Node>
    </Node>

    <!-- ================================== OMNI ================================== -->

    <!-- ================================== SCISSORS MODELS ================================== -->

    <Node name="left_tip" >

        <!-- Solvers & Physics -->
        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
        <CGLinearSolver name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-10" />
        <MechanicalObject name="instrumentState" position="@GeomagicDevice.positionDevice" rest_position="0 0 0 0 0 0 1" template="Rigid3d" />
        <UniformMass name="mass" totalmass="0.005" />
        <LCPForceFeedback activate="true" forceCoef="0.1"/> <!-- ADDED : Compute a force-feedback for the device -->
        <UncoupledConstraintCorrection/>
        <!-- Solvers & Physics -->

        <!-- Visual Model -->
        <Node name="VisualModel" >
            <OglModel name="InstrumentVisualModel" fileMesh="scissor_very_low_left_tip_origin.obj" scale="0.2" />
            <RigidMapping name="MM->VM mapping" input="@../instrumentState" output="@InstrumentVisualModel" listening="true"/>
        </Node>
        <!-- Visual Model -->

        <!-- Collision Model -->
        <Node name="CollisionModel" >
            <MeshObjLoader filename="scissor_very_low_left_tip_origin.obj"  name="loader"/>
            <Mesh src="@loader" name="InstrumentCollisionModel" />
            <MechanicalObject src="@loader" name="instrumentCollisionState" scale="0.2" />
            <Line name="instrument" group="1" contactStiffness="20" />
            <Point name="instrument" group="1" contactStiffness="20" />
            <Triangle name="instrument" group="1" contactStiffness="20" />
            <RigidMapping name="MM->CM mapping" input="@../instrumentState" output="@instrumentCollisionState"  listening="true"/>
        </Node>
        <!-- Collision Model -->

        <!-- Force feedback mapper to omni -->
        <VectorSpringForceField  template="Vec3d" object1="@Omni/RefModel3/instrumentCollisionState" object2="@left_tip/CollisionModel/instrumentCollisionState" stiffness="10" viscosity="0" />
        <!-- Force feedback mapper to omni -->
    
    </Node>

    <Node name="base" >

        <!-- Solvers & Physics -->
        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
        <CGLinearSolver name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-10" />
        <MechanicalObject name="instrumentState" position="@GeomagicDevice.positionDevice" template="Rigid3d" showObject="1" showObjectScale="0.5"/>
        <UniformMass name="mass" totalmass="0.005" />
        <LCPForceFeedback activate="true" forceCoef="0.1"/> <!-- ADDED : Compute a force-feedback for the device -->
        <UncoupledConstraintCorrection/>
        <!-- Solvers & Physics -->

        <!-- Visual Model -->
        <Node name="VisualModel" >
            <OglModel name="InstrumentVisualModel" fileMesh="scissor_very_low_base_origin.obj" color="black"  scale="0.2"/>
            <RigidMapping name="MM->VM mapping" input="@../instrumentState" output="@InstrumentVisualModel" />
        </Node>
        <!-- Visual Model -->

        <!-- Collision Model -->
        <Node name="CollisionModel" >
            <MeshObjLoader filename="scissor_very_low_base_origin.obj"  name="loader"/>
            <Mesh src="@loader" name="InstrumentCollisionModel" />
            <MechanicalObject src="@loader" name="instrumentCollisionState" scale="0.2" />
            <Line name="instrument" group="1" contactStiffness="20" />
            <Point name="instrument" group="1" contactStiffness="20" />
            <Triangle name="instrument" group="1" contactStiffness="20" />
            <RigidMapping name="MM->CM mapping" input="@../instrumentState" output="@instrumentCollisionState" />
        </Node>
        <!-- Collision Model -->

        <!-- Force feedback mapper to omni -->
        <VectorSpringForceField  template="Vec3d" object1="@Omni/RefModel1/instrumentCollisionState" object2="@base/CollisionModel/instrumentCollisionState" stiffness="10" viscosity="0" />
        <!-- Force feedback mapper to omni -->
    
    </Node>

    <Node name="connector" >

        <!-- Solvers & Physics -->
        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
        <CGLinearSolver name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-10" />
        <MechanicalObject name="instrumentState" position="@GeomagicDevice.positionDevice" template="Rigid3d" />
        <UniformMass name="mass" totalmass="0.005" />
        <LCPForceFeedback activate="true" forceCoef="0.1"/> <!-- ADDED : Compute a force-feedback for the device -->
        <UncoupledConstraintCorrection/>
        <!-- Solvers & Physics -->

        <!-- Visual Model -->
        <Node name="VisualModel" >
            <OglModel name="InstrumentVisualModel" fileMesh="scissor_very_low_connector_origin.obj" scale="0.2" />
            <RigidMapping name="MM->VM mapping" input="@../instrumentState" output="@InstrumentVisualModel" />
        </Node>
        <!-- Visual Model -->

        <!-- Collision Model -->
        <Node name="CollisionModel" >
            <MeshObjLoader filename="scissor_very_low_connector_origin.obj"  name="loader"/>
            <Mesh src="@loader" name="InstrumentCollisionModel" />
            <MechanicalObject src="@loader" name="instrumentCollisionState" scale="0.2" />
            <Line name="instrument" group="1" contactStiffness="20" />
            <Point name="instrument" group="1" contactStiffness="20" />
            <Triangle name="instrument" group="1" contactStiffness="20" />
            <RigidMapping name="MM->CM mapping" input="@../instrumentState" output="@instrumentCollisionState" />
        </Node>
        <!-- Collision Model -->

        <!-- Force feedback mapper to omni -->
        <VectorSpringForceField  template="Vec3d" object1="@Omni/RefModel2/instrumentCollisionState" object2="@connector/CollisionModel/instrumentCollisionState" stiffness="10" viscosity="0" />
        <!-- Force feedback mapper to omni -->
    
    </Node>

    <Node name="right_tip" >
        <!-- Solvers & Physics -->
        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
        <CGLinearSolver name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-10" />
        <MechanicalObject name="instrumentState" position="@GeomagicDevice.positionDevice" template="Rigid3d" showObject="1" showObjectScale="0.5" />
        <UniformMass name="mass" totalmass="0.005" />
        <LCPForceFeedback activate="true" forceCoef="0.1"/> <!-- ADDED : Compute a force-feedback for the device -->
        <UncoupledConstraintCorrection/>
        <!-- Solvers & Physics -->

        <!-- Visual Model -->
        <Node name="VisualModel" >
            <OglModel name="InstrumentVisualModel" fileMesh="scissor_very_low_right_tip_origin.obj" scale="0.2" />
            <RigidMapping name="MM->VM mapping" input="@../instrumentState" output="@InstrumentVisualModel" />
        </Node>
        <!-- Visual Model -->

        <!-- Collision Model -->
        <Node name="CollisionModel" >
            <MeshObjLoader filename="scissor_very_low_right_tip_origin.obj"  name="loader"/>
            <Mesh src="@loader" name="InstrumentCollisionModel" />
            <MechanicalObject src="@loader" name="instrumentCollisionState" scale="0.2" />
            <Line name="instrument" group="1" contactStiffness="20" />
            <Point name="instrument" group="1" contactStiffness="20" />
            <Triangle name="instrument" group="1" contactStiffness="20" />
            <RigidMapping name="MM->CM mapping" input="@../instrumentState" output="@instrumentCollisionState" />
        </Node>
        <!-- Collision Model -->

        <!-- Force feedback mapper to omni -->
        <VectorSpringForceField  template="Vec3d" object1="@ScissorPart/RigidScissor/RefModel4/instrumentCollisionState" object2="@right_tip/CollisionModel/instrumentCollisionState" stiffness="10" viscosity="0" />
        <!-- Force feedback mapper to omni -->
    
    </Node>

    <!-- ================================== SCISSORS MODELS ================================== -->

</Node>

Python script:

import sys
import Sofa
import math
import numpy as np

# The main function that SOFA will run
# The class will map the keyboard keys to the model to be able to move it
class Scissors (Sofa.PythonScriptController):

    def createGraph(self,rootNode):
        return 0

    # The initial function that will run when the class is called
    def initGraph(self, node):
        print '=================== initGraph called (python side) ==================='
        self.rootNode = node
        self.children = node.getChildren()
        self.button = 0
        for node in self.children:
            if node.name == "left_tip":
                self.left_tip = node.getObject('instrumentState')
            if node.name == "right_tip":
                self.right_tip = node.getObject('instrumentState')
                # self.TE = node.getObject('TE')
                nodeCol = node.getChild('CollisionModel')
                self.right_tip_col = nodeCol.getObject('instrumentCollisionState')
            if node.name == "connector":
                self.connector = node.getObject('instrumentState')
            if node.name == "base":
                self.base = node.getObject('instrumentState')
        
        # self.TE = self.rootNode.getChild('ScissorPart').getChild('RefModel4-Transformed').getObject('TE')
        self.movingScissorPart = self.rootNode.getChild('ScissorPart').getObject('DOFs')
        self.angleX = 0
        self.angleY = 0
        self.angleZ = 0
        return 0

    # This function will get called every time a key is pressed
    def onKeyPressed(self, c):
        if c == '+':
            positionScissor = self.movingScissorPart.findData('position').value
            positionRightTip = self.right_tip.findData('position').value
            if positionScissor!=positionRightTip:
                print "Error ScissorPart is not equal to RightTip"

            self.quaternion_to_euler(positionScissor[0][3],positionScissor[0][4],positionScissor[0][5],positionScissor[0][6])
            
            self.angleX = self.angleX + 5

            quat = self.euler_to_quaternion()

            positionScissor[0][3] = quat[0]
            positionScissor[0][4] = quat[1]
            positionScissor[0][5] = quat[2]
            positionScissor[0][6] = quat[3]
            self.movingScissorPart.findData('position').value = positionScissor

            positionRightTip[0][3] = quat[0]
            positionRightTip[0][4] = quat[1]
            positionRightTip[0][5] = quat[2]
            positionRightTip[0][6] = quat[3]
            self.right_tip.findData('position').value = positionScissor

        if c == '-':
            positionScissor = self.movingScissorPart.findData('position').value
            positionRightTip = self.right_tip.findData('position').value
            if positionScissor!=positionRightTip:
                print "Error ScissorPart is not equal to RightTip"

            self.quaternion_to_euler(positionScissor[0][3],positionScissor[0][4],positionScissor[0][5],positionScissor[0][6])
            
            self.angleX = self.angleX - 5
            
            quat = self.euler_to_quaternion()
            
            positionScissor[0][3] = quat[0]
            positionScissor[0][4] = quat[1]
            positionScissor[0][5] = quat[2]
            positionScissor[0][6] = quat[3]
            self.movingScissorPart.findData('position').value = positionScissor

            positionRightTip[0][3] = quat[0]
            positionRightTip[0][4] = quat[1]
            positionRightTip[0][5] = quat[2]
            positionRightTip[0][6] = quat[3]
            self.right_tip.findData('position').value = positionRightTip
        return 0

    def euler_to_quaternion(self):
        roll = self.angleX * math.pi /180
        pitch = self.angleY * math.pi /180
        yaw = self.angleZ * math.pi /180
        qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
        qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2)
        qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2)
        qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
        return [qx, qy, qz, qw]

    def quaternion_to_euler(self, x, y, z, w):
        t0 = 2.0 * (w * x + y * z)
        t1 = 1.0 - 2.0 * (x * x + y * y)
        X = math.degrees(math.atan2(t0, t1))

        t2 = 2.0 * (w * y - z * x)
        t2 = 1.0 if t2 > +1.0 else t2
        t2 = -1.0 if t2 < -1.0 else t2
        Y = math.degrees(math.asin(t2))

        t3 = 2.0 * (w * z + x * y)
        t4 = 1.0 - 2.0 * (y * y + z * z)
        Z = math.degrees(math.atan2(t3, t4))

        self.angleX = X
        self.angleY = Y
        self.angleZ = Z
        return 0

Hope this helps.
Best

Hugo

[Hugo]

Another topic had the same issue as you did ( error: 'abi' ), just in case.

Regarding your new error, could you give us more of the error log please?
You should be able to see at which line in the code the error comes from.

Thanks

Hugo

[Hugo]

Nice to hear thanks for sharing your solution Wendy!
Good luck in your next steps, keep us updated!

Hugo

[Hugo]

Hi @fayad

Did you succeed in solving your issue or do you still need support?
Best

Hugo

[Hugo]

Happy New Year @secretdevil ! I just learned last week about the Iranian new year.
Thanks for your support.

Hugo

[Hugo]

Dear @zliu157

Please have a look at this reply in another thread of the forum.

Hugo

[Hugo]

Hi @warango

Good to hear from you again.
Another member of the community @xutian got the same problem as you. See my reply here online.

Let me know if it helps.
Best

Hugo

[Hugo]

Hi @minhtruong

It sounds like you followed the step by step tutorial.
However, by googling you issue, it appears that it could be related to a mix between 32 and 64 bit version of libraries.

Which one is your Win? I assume it is x64, you should therefore use the x64 libs for boost other dependencies.

Best

Hugo

[Hugo]

Hi @xutian

I never faced this issue myself, but apparently it’s an issue related to boost: see post here.

Best

Hugo

[Hugo]

Hi @outtt

I need to ask the teams working on the topic and I will get back to you.
Best

Hugo

[Hugo]

Dear @eyequest

Thank you very much for your interest in SOFA and welcome on the forum!
Sorry for the delay of reply but all the community is pretty busy currently.

The Modeler is actually deprecated since release v16.12 because it was becoming old and unstable. We have the project to rebuild a new version of a modeler, but as you can guess it takes a lot of time.

You should still be able to run the scn examples of these tutorials from runSofa though.
We stay at your disposal for any issue, question you may have with SOFA.

Best wishes,

Hugo

[Hugo]

Hi Chris,

I did this from your scene (rotation in x axis here but could be any rotation):

Is this what you want?
Best

Hugo

[Hugo]

Hi @minhtruong

Have you well installed boost as described in the documentation for Win?
Look at the required dependencies.

Hugo

[Hugo]

Hi @xutian

You should first use the latest v18.12 release of SOFA instead of 17.06.
Is your C++ code in a separate plugin?
Does your project have the right dependencies to SOFA?
Could you also share your code (especially the around the line 49) ?

Hugo

[Hugo]

Hi @mlin

Did you try to upload us a screen shot?
Do you have a example that I could try rightaway?

Hugo

[Hugo]

Hmm thank you for reporting this @outtt
I think need to investigate this. Changes where indeed made in the Geomagic plugin since 17.12.

Hugo

[Hugo]

Dear @chrissim

Thank you for your question and sorry to reply so late.
We are currently very busy, and we are unfortunately not as responsive as usual on the forum. I will have a look at your issue and get back to you.

Cheers,

Hugo

[Hugo]

Dear @outtt

There is no ready-to-use plugin for knot tying at my best knowledge. It has been investigated but nothing has come up yet.
Maybe @eunkyungbae has some update about her work?

I will close this topic, but do not hesitate a new topic for any further question!
Best,

Hugo

[Hugo]

Hi Fayad

The issue was indeed due to the fact that I was testing the interaction while (the frames controlling the scissor) being in the center of space (0,0,0).

To fix your issue, you need to compute a local rotation (with regards to your current position and not regarding the reference frame).

I have currently not a lot of time to implement it myself.
Let me know about your progresses.

Best

Hugo

[Hugo]

Thank you for your question.

Do you have any details about the configuration phase (CMake)?
Was it successful?
Could you detail what comes below the line [1571/1572] Linking CXX shared library lib/libSoftRobots.so ?

Thanks,
Hugo

[Hugo]

Hi @rubab

I am sorry but the Modeler is deprecated for a long time (16.12).
We have few expert in UI design on the forum, I am sorry not to be able to assist you more.

Best

Hugo

[Hugo]

Hi @rubab

Did Binesh input help you?

Hugo

[Hugo]

Any luck with the compilation @avihs98 ?
Did you successfully linked with Qt ?

Hugo

[Hugo]

Hi @rubab

This is a very GUI oriented question.
Again, I am no expert, but a dirty way would be to edit the GUI.ui file and remove this button in the associated code (RealGUI for runSofa). Not sure it’s the cleaner way to do it, I am actually sure it isn’t!

Hugo

[Hugo]

Hi @rubab @timp,

Did @bmarques ‘s inputs help you both?
Best,

Hugo

[Author]

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