epernod

Hi,

sorry I wanted to reply and the SOFA week happened.

As Hugo told, the main principals are in SOFA but some parts are missing like the tetra refinement and “split on path”.
The main issue I see with your question is how will you control the depth of cut using a mouse?

best regards,

Hi,

sorry not time yet to work on it and Santa Claus didn’t deliver yet the 2nd device at my office…

Let you know as soon as possible.

Hi,

sorry I didn’t read the whole conversation but did you give a try with SubsetTopologyEngine ?
You can split the mesh using a boxROI and then use tetra FEM on the ROI you want to simulate with accuracy and use a Grid + HexaFEM for the rest of the mesh.
It is more a trick than an accurate solution. Otherwise I would recommand to generate a…[Read more]

Hi,

stl in ascii and binary is supported using the MeshSTLLoader but I don’t know URDF/stl, could you share a small mesh to see the format?
From which software do you export this format?

regards,

Hi,
could you do a simple test and try to launch runSofa with another scene. To check if it is the scene or the app.
You Can do this by launching from shell:
./runSofa.exe /path/examples/Demos/liver.scn

Regards

Hi,

could you just specify which version of SOFA you are using.

thanks,

Erik

Hi,

Looking only at the numbers. I think you are trying to incisé outside of the mesh.

Do you confirm that you Can see the mesh when you start thé simulation before cutting?

The numbers in the .txt are 3d coords. So your first incision point is on (5,6,0) while your points are between (0,0,0) and (2,2,0).

Let me know if changing thé coords in…[Read more]

hi,
ok, but were you able to run the OpenHaptics example? Sofa is using this lib to control the geomagic. So if there example do not work, maybe you need to update your version of OH.

best,

Hi,
any update on your problem?

regards,

ok I don’t think it is a problem from SOFA.
As it is using OpenHaptics to communicate with the touch, be sure to have an up to date version and if you can try to run the example from the lib as well.

Hi,

sorry my hexadecimal is a bit rusty.
771 correspond to:
#define HD_COMM_CONFIG_ERROR 0x0303

in openHaptics: hdDefines.h

Just to be sure, when you are using the touch setup, is the device well detected?
Are you able to run touch demo ? (I’m on windows, so not sure it exists on linux)

best,

Hi,

the driver error 771 if I well remember means that your device is busy.
Be sure before starting the scene that you have closed all touch app. like the demo or Touch Setup.

If none, also check in your task manager that there is no zombie task like an old exec of runSofa or touch app.

best regards,

Hi,

the normal you see in the window are coming from the OglModel of your scene.
Each OglModel has a Data normal. I’m not used to create scene in python but I’m quite sure you can access directly Data values of component.

Be sure to have updateNormals set to true in the OglModel

Erik

And be sure to work on a nearly up to date version of SOFA from github because several bugs on the topology operation have been fixed in the past months.

Did someone say topology? Did I saw the bat-topology-signal?

Hello Wendy,

yes sorry, all those components are still a bit messy. It is on the todo list to have a clearer api.

Until then, for basic suppression/add of topological elements, I would suggest to have a look at those…[Read more]

Hi,

no sorry, I didn’t had time to check that and I have other deadlines for the moment.
I let you know if I make progress on that topic.

Erik

Hi,

@outtt I see the delay in your video but I tested the liver18.12.scn on my computer and I don’t have the delay.
Could you tell me exactly which version of SOFA you are using. Is it the 18.12 from github that you compiled or a package?

Are you able to test on an up to date version of SOFA? There might have been additional fixes not included…[Read more]

Hello @Wong

ok I understand, the data binding has not been canceled. The code from the Geomagic didn’t changed.
But the API on how to solve the constraint changed to be more accurate. The delay is due to tool position computation regarding the constraint.

When you speak about the 50 FPS, is it using the demo scene of the plugin or your scene?

Erik

Ok, yes it is because the omni position is now gathered inside the Omni node where there is mechanicalStateController.
To link to the Instrument model, it uses VectorSpringForceField.

Letting the first Data link was creating inconsistencies between the collision and controllerState nodes communicating using the VectorSpringForceField and the…[Read more]

Hi,

could you just post the old scene with the data binding you are highlighting.
I will check if this is still possible or with another mechanism.

The change in the scene were a consequence of changes in the constraint resolution API inside SOFA.

regards,