[SOLVED] Kinematic chain creation

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  • 8 November 2016 at 17:33 #7762
    luibass92
    Blocked

    Hi everyone!

    I’m a SOFA new user and I need to create a kinematic chain but I don’t know how to do it. In particular I need to recreate the schunk robotic hand.
    Here there is a scheme of the hand:
    http://wiki.ros.org/schunk_svh_driver?action=AttachFile&do=get&target=svh_joint_names.png

    I don’t care about the visualization/rendering problems, just the kinematic chain is OK for the moment.

    I tried to use the Modeler but it doesn’t seem to work properly, I have a lot of errors, so I guess I have to create the scene completely in XML.
    The tutorials have visualization errors too and I have a lot of difficulties to use them so I don’t think they can be helpful.

    Can you please help me in some ways? Do you have some examples that I can take as a starting point?

    Thanks and best regards.

    9 November 2016 at 09:22 #7763
    Matthieu Nesme
    Blocked

    Hi,

    have a look to the Compliant plugin and its python API (StructuralAPI).

    The example sofa/applications/plugins/Compliant/examples/bielle_manivelle/structuralAPI.py shows how to build such a system.

    — Matthieu

    9 November 2016 at 11:16 #7764
    luibass92
    Blocked

    Hi Matthieu,

    first of all thanks for your reply.
    I have tried to install the Compliant plugin: I have done the configuration another time checking the right box and I have done the make another time, but I have the following error during the make process

    In file included from /home/luigi/sofa/v16.08/src/applications/plugins/Compliant/initCompliant.cpp:26:0:
/home/luigi/sofa/v16.08/src/applications/plugins/Compliant/../SofaPython/PythonCommon.h:28:24: fatal error: Python.h: File o directory non esistente
 #    include <Python.h>
                        ^
compilation terminated.
make[2]: *** [applications/plugins/Compliant/CMakeFiles/Compliant.dir/initCompliant.cpp.o] Errore 1

    Do you know how to solve it? It seems that the Python.h file included in the PythonCommon.h is lost.
    Maybe it’s useful to know that during the configuration I haven’t installed anything but the default things and the Compliant plugin.

    EDIT: I have solved the problem installing the PLUGIN_SOFAPYTHON too. Now the compilation works.

    9 November 2016 at 11:57 #7765
    luibass92
    Blocked

    I’ve just seen the example, it seems useful but really hard to understand for a really new user like me.
    I was looking for something easy like two or three links linked by rotational joints or something similar.

    Thanks, Luigi.

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