[SOLVED] Sensable Plugin Example Problems

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  • 1 March 2016 at 11:51 #5996
    Korcan
    Blocked

    Hi,

    I compiled sensable plugin and trying to run examples in Sensable/Examples folder.

    But when i tried to run im getting 

    FROM SOFA [OUT] >> [INFO]    [PluginManager] Loaded plugin: C:/Users/RoketWorks Korcan/Desktop/sofa/master/src/build/bin/Release/Sensable.dll

FROM SOFA [OUT] >> [INFO]    [PluginManager] Loaded plugin: C:/Users/RoketWorks Korcan/Desktop/sofa/master/src/build/bin/Release/SofaCarving.dll

FROM SOFA [OUT] >>
[WARNING] [DAGNode] ERROR parsing Link "": empty path.

FROM SOFA [ERR] >> [ERROR]
FROM SOFA [OUT] >> [WARNING] [DAGNode] ERROR parsing Link "": empty path.
[WARNING] [DAGNode] Creation of EnslavementForceFeedback CollisonListener failed because no Collision Model links are found: "" and ""
[WARNING] [DAGNode] ERROR parsing Link "": empty path.
[WARNING] [DAGNode] ERROR parsing Link "": empty path.
[WARNING] [DAGNode] Creation of EnslavementForceFeedback CollisonListener failed because no Collision Model links are found: "" and ""
[WARNING] [DAGNode] ERROR parsing Link "": empty path.
[WARNING] [DAGNode] ERROR parsing Link "": empty path.
[WARNING] [DAGNode] Creation of EnslavementForceFeedback CollisonListener failed because no Collision Model links are found: "" and ""
[WARNING] [DAGNode] ERROR parsing Link "": empty path.
[WARNING] [DAGNode] ERROR parsing Link "": empty path.
[WARNING] [DAGNode] Creation of EnslavementForceFeedback CollisonListener failed because no Collision Model links are found: "" and ""

FROM SOFA [ERR] >> [DAGNode "CollisionModel"] Object type "EnslavementForceFeedback" creation Failed
[ERROR]   [DAGNode "CollisionModel"] Object type "EnslavementForceFeedback" creation Failed

FROM SOFA [OUT] >> [WARNING] [InteractiveCamera] Too many missing parameters ; taking default ...

FROM SOFA [ERR] >> LOAD ERROR: Node initialization failed.

Sofa exited safely.

    How can i test haptic device ?

    Best Wishes,

    1 March 2016 at 15:37 #6005
    Korcan
    Blocked

    Also im using openhaptics 3.4

    1 March 2016 at 19:48 #6008
    Korcan
    Blocked

    Hey,

    I think i found a solution. When you tried to compile NewOmniDriver.cpp it gives you

    ” NewOmniDriver: GNode cannot access protected member” Error.

    I made changes on topic based on remibessard’s reply.

    NewOmniDriver: GNode cannot access protected member

    But when i debugged it gives me error on this line on NewOmniDriver.cpp

    if (parentRoot->getFirstParent())
parentRoot = dynamic_cast<sofa::simulation::tree::GNode*>(parentRoot->getFirstParent());
    2 March 2016 at 08:16 #6012
    Guillaume
    Keymaster

    Hi Korcan,

    Glad you found some track in NewOmniDriver topic by yourself.

    About your new error, what is the error exactly ?
    Did you check the return value of the dynamic_cast ? parentRoot may be NULL.

    EDIT : I just tried to replace 

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if (parentRoot->parent())
    parentRoot = parentRoot->parent();

    with

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if (parentRoot->getFirstParent())
    parentRoot = dynamic_cast<sofa::simulation::tree::GNode*>(parentRoot->getFirstParent());

    and it went well 🙂

    Cheers,
    Guillaume.

    2 March 2016 at 10:40 #6022
    Korcan
    Blocked

    Hi Guillaume,

    I have touch 3d stylus model. I tried open haptics sdk and it works well. Which open haptics sdk you are using ?

    Edit:

    ParentRoot looks NULL
    http://prntscr.com/aa74x9

    parent variable is not null but after casting Gnode* parentRoot looks null.

    Best Wishes,
    Korcan

    2 March 2016 at 14:27 #6025
    Guillaume
    Keymaster

    I just installed Open Haptics SDK 3.4.0 to help in this topic but since I am not programming with Haptics I just tested building Sensable plugin.

    If parentRoot is NULL, is is apparently not a GNode (that’s weird).
    Are you working with DAGNode ?

    Here is a more generic way to do the omniVisu Node creation :

    parent = dynamic_cast<simulation::Node*>(this->getContext());

//sofa::simulation::tree::GNode *parentRoot = dynamic_cast<sofa::simulation::tree::GNode*>(this->getContext());
sofa::simulation::Node *parentRoot = parent;

//if (parentRoot->getFirstParent())
//  parentRoot = dynamic_cast<sofa::simulation::tree::GNode*>(parentRoot->getFirstParent());
if (parentRoot && parentRoot->getFirstParent())
    parentRoot = dynamic_cast<sofa::simulation::Node*>(parentRoot->getFirstParent());

nodePrincipal= parentRoot->createChild("omniVisu "+deviceName.getValue());
    2 March 2016 at 16:40 #6030
    Korcan
    Blocked

    It works 🙂

    Right now different parts of newomnidriver creating exceptions 🙂

    When i click animate button i am getting this error.
    http://prntscr.com/aabbgb

    Also i have to change :
    hHDVector[i] = hdInitDevice(autreOmniDriver[i]->deviceName.getValue().c_str());
    to
    hHDVector[i] = hdInitDevice(HD_DEFAULT_DEVICE);

    Otherwise it’s not initializing device. And i have only 1 device for that reason i can use default device constant.

    Edit :

    sofa::helper::WriteAccessor<sofa::core::objectmodel::Data<VecCoord> > x = *DOFs->write(this->setRestShape.getValue() ? sofa::core::VecCoordId::restPosition() : sofa::core::VecCoordId::position());
            sofa::helper::WriteAccessor<sofa::core::objectmodel::Data<VecCoord> > xfree = *DOFs->write(this->setRestShape.getValue() ? sofa::core::VecCoordId::restPosition() : sofa::core::VecCoordId::freePosition());
            unsigned int index = 0;

            x    [index].getCenter()=world_H_virtualTool.getOrigin();
            xfree[index].getCenter()=world_H_virtualTool.getOrigin();
            x    [index].getOrientation()=world_H_virtualTool.getOrientation();
            xfree[index].getOrientation()=world_H_virtualTool.getOrientation();

    Problem in this line

    xfree[index].getCenter()=world_H_virtualTool.getOrigin();

    I am going to update this post

    When you comment out xfree lines it works fine 🙂 But it must be caused somethink else. im searching.

    3 March 2016 at 14:38 #6040
    Nguyen
    Blocked

    I know this problem.

    You have to set free_position in the MechanicalObject in your scene file. This MechanicaObject is mapped to your haptic via tagging i.e. using the same tag as OmniDriver.

    In old version, sofa initialize free_position for you, now it doesnt.

    4 March 2016 at 04:03 #6043
    Korcan
    Blocked

    Thanks again but still im getting same error. Can you share your carving example if you have a time ?

    4 March 2016 at 18:31 #6045
    Nguyen
    Blocked

    something like this:

    <EulerImplicit name="cg odesolver" printLog="false" rayleighStiffness="0.01"  rayleighMass="1"/>
 <CGLinearSolver iterations="100" name="linear solver" threshold="1e-20" tolerance="1e-20" />
 <MechanicalObject template="Rigid3d" name="instrumentState" position="10 10 10 0 0 0 1 10 10 10 0 0 0 1 10 10 10 0 0 0 1 10 10 10 0 0 0 1" free_position="10 10 10 0 0 0 1 10 10 10 0 0 0 1 10 10 10 0 0 0 1 10 10 10 0 0 0 1"/>  
 <UniformMass template="Rigid3d" name="mass"  totalmass="0.1" />
 <LCPForceFeedback activate="true" tags="Omni1" forceCoef="0.5" />
    29 March 2016 at 14:17 #6391
    Guillaume
    Keymaster

    Thanks for your help here @tuanthienbk 🙂

    Any progress on your side @Korcan ?
    Do not hesitate to submit some patches if you fixed stuff in Sensable plugin, it would be highly appreciated !

    Cheers,
    Guillaume.

    29 March 2016 at 14:27 #6392
    Korcan
    Blocked

    @Guillaume i could’nt find enough time to investigate. I solved some of problems but still i have errors. At this point actually im learning how sofa works on code side 🙂

    i think i push some patches next week about sensable plugin.

    7 November 2016 at 17:38 #7744
    Hugo
    Keymaster

    Dear Korcan,

    As announced previously, we just released a Geomagic plugin dedicated to latest haptic devices Geomagic:

    This plugin is compatible for both Linux and Windows.
    Please, give us feedback about it!
    Hope this will help you in your work,

    Cheers,

    Hugo

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