epernod

Hi,

I started fixing it but in fact it has already been done 2 weeks ago:

https://github.com/SofaDefrost/SoftRobots/pull/56

best,

Hi,

d_componentState has been recently changed into a Data for future works on Data flow.

You have to change:
d_componentState != ComponentState::Valid
into
d_componentState.getValue() != ComponentState::Valid

and
d_componentState = ComponentState::Valid;
into
d_componentState.setValue(ComponentState::Valid);

We will propagate the change in…[Read more]

Could you point the website please. I can’t find it. I’m interested to see the last versions

So I don’t know exactly what the geometry of this tool, but from what I see in the code, here are the Data to be considered:

Data<Vec3d> positionBase; ///< Position of the interface base in the scene world coordinates
Data<Quat> orientationBase; ///<…[Read more]

Hi,

sorry I never used the SofaHAPI plugin but to what I see it should be very similar to the Geomagic Plugin.

Which scene are you using, could you share the code and maybe screenshot of the result. There should be a Data referring to the origin of the tool at start.

I’m curious, is it a recent Novint Falcon? Is this device still on sail?

Erik

Hi,

I’m not expert in Rigid and RigidMapping but I think in your case you need to define which indices of your visual mesh is mapped to each rigid dof using the option rigidIndexPerPoint of the RigidMapping.

I think this scene is similar to what you want to do:…[Read more]

Hi @Singh,

you are right, the force is working but is very small. A change of behavior has been introduced in the last release. We will correct it in the incoming week.

In the mean time, to recover the good behavior of the v19.06, in the .scn files you are using, for example “Geomagic-RigidCubes.scn” change all…[Read more]

Hi,

yes in the SofaSphFluid public plugin: https://github.com/sofa-framework/sofa/tree/master/applications/plugins/SofaSphFluid

best,

Erik

Hi,

there is no direct way to display the force vector sent to the haptic tool. As the haptic and the rendering loops do not have the same frequency, it won’t be accurate to draw this force.
However, in runSofa you can see the interaction between the tool and the colliding object through View pannel, Behavior->Interactions

Best,

Erik

Hi,

I’m sorry, the geomagic Emulator is still work in progress. But it doesn’t need a Geomagic tool to be connected, you just need the OpenHaptics library.
Then it is possible to use the key to move the virtual tip.

If you wnat to use the mouse I would recommand to use a MechanicalStateController. There is an example scene.

Best regards,

Hi @pasquale94,

sorry while reading again this doc page, I noticed an important information is missing.

You need to hold the Shift key button to activate the mouse events. So for example if you open runSofa and go directly to the example: sofa-srcexamplesComponentstopologyTetra2TriangleTopologicalMapping.scn

and press Shift + left mouse button…[Read more]

Hi,

ok, your project seems very interesting. With a lot of different aspects to work on.
I didn’t get all the points but we could discuss each step in more detail when you get deeper into those simulation procedure.

Right now to answer your question you can use the mouse directly from the default runSofa gui.
See doc here:…[Read more]

Hi @pasquale94

could you be more specific after which kind of event you want to remove a tetrahedron ?

Is it rather a mouse event or a collision event or something else? Also how do you want to create this action? Is it from an internal c++ code or directly through the scene?

Best regards,

Erik

ps: something like this ?

Hi @luibass92

to complete Hugo answer, yes the behavior was broken in last releases due to change in the code not propagated into the example scene.
this has been fixed and will be part of the incoming release. Meanwhile you can download the up to date .scn file here: ArticulatedSystemMapping.scn

Let us know if it works as expected.

regads,

Erik

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]