First, absolutely sorry for this late response, I had to take care of others programming stuffs these last few weeks.
I tried to implement a velocity controller on an actuator to shape control a deformable object. To do so, I use the Broyden algorithm to numerically estimate the inverse Jacobian of the deformation of the object with…[Read more]
Ok it would be really nice to get in touch with the people developing this plugin to get some advises or to begin a collaboration !
For the moment I found these articles
https://hal.inria.fr/hal-01500912/file/RAL2017.pdf [COEVOET, E. et al, 2017]
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6631138 [DURIEZ, C. 2013]
which seem to be…[Read more]
First thanks for your answer ! I am going to look through the DEFROST team work and the article you mentioned.
Meanwhile, could you tell me if there are any inverse tools in Sofa or should I made my own ?
I would like to apply a servo control law in Sofa on a deformable object.
I explain: I would like to control a deformable object such as it reaches a desired position. To do so, I compute the error between the current position and the desired position of some control points. Knowing this error, it is (theoretically) possible to control the…[Read more]
It is the same the only force value which is present is the one due to gravity.
I also checked the “externalForce” vector of fixed mechanical object: there is a value different from 0 before the contact happens, which is even bigger than the value when the collision occurs. Can it be because the fixed object is attached to a fixed base with an…[Read more]
Thanks for your help, but unfortunately it did not work.
The moving object is moved thanks to a LinearForceField. When we try to get the ‘force’ vector of the MechanicalObject of the moving object, we get the value we fixed inside the LinearForceField. The ‘force’ vector of the MechanicalObject does not change even when the contact happens.
I have a Python scene two objects, each one having both a MechanicalObject and a collision model, which is made of a MechanicalObject and Point collision model. One of them is moving, the other is fixed.
I would like to know the energy or the force generated when the two object collide. Indeed, I would like to perform a…[Read more]