Proofs with LeapMotion

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  • 15 June 2017 at 20:09 #9330
    Wendy María Arango
    Blocked

    Hi,

    Right now I’m trying to use LeapMotion with SOFA.

    My question is: how do I prove that’s working?

    I mean, how do I prove a scene using Leap?

    I’ll be waiting for an answer.

    Thanks a lot.

    Wendy.

    19 June 2017 at 17:22 #9336
    Guillaume
    Keymaster

    Hi Wendy,

    Do you mean formal verification? If yes, the SOFA code source (including LeapMotion plugin) has not been through such a process yet.
    Please tell us if you are interested in doing this for LeapMotion plugin. I don’t think it would be very difficult for a non-beginner since it is just a driver (there is no simulation algorithm in this plugin).

    Cheers,
    Guillaume.

    27 June 2017 at 20:10 #9369
    Wendy María Arango
    Blocked

    Hi Guillaume,

    What I meant is: how do I create a scene?

    I mean, while creating, for example, a liver, what do I have to add in the scene to use LeapMotion when I run the executable?

    Thanks a lot.

    10 July 2017 at 13:39 #9778
    Hugo
    Keymaster

    Hi wendyarch,

    If you want to add a LeapMotion to your initial SOFA scene, here is what you need:

    
<RequiredPlugin name="LeapMotion Driver" pluginName="LeapMotion" />

    to load the LeapMotion plugin (that needs to be compiled before obviously).
    Then, you need :

    
<LeapMotionDriver name="leapMotionDriver" displayHand="true"/>

    which is the interface component providing all informations from the Leap.
    Finally, you can use it in your scene as detailed in applications/plugins/LeapMotion/examples:

    
<Node name="TrackedHand" activated="true" >
        <Gravity name="Gravity" gravity="0 0 0" />
        <Node name="TrackedPalm" >
			<MechanicalObject name="movingDOFs" template="Rigid" position="@../../leapMotionDriver.handPalmCoordinate" showObject="false" showObjectScale="0.02" />
		</Node>
        <Node name="TrackedFingers" >
			<MechanicalObject name="movingDOFs" template="Rigid" position="@../../leapMotionDriver.fingersCoordinates" showObject="false" showObjectScale="0.02" />
		</Node>
    </Node>

    <Node name="SimulatedHand" activated="true" >
		<VisualStyle displayFlags="showVisualModels hideBehaviorModels hideCollisionModels hideMappings hideForceFields" />
		<Node name="Palm">
	        <Gravity name="Gravity" gravity="0 0 0" />
			<MechanicalObject name="palmState" template="Rigid" rest_position="@../../leapMotionDriver.handPalmCoordinate" showObject="false" showObjectScale="0.02" />
			<RestShapeSpringsForceField  name="RSFF" stiffness="1e6" angularStiffness="1e3" external_rest_shape="../../TrackedHand/TrackedPalm/movingDOFs" recompute_indices="false" />
			<UniformMass name="uniformMass" template="Rigid"  totalmass="0.1" />
			<Node name="Collision_Model" >
				<MechanicalObject name="collisDOFs" template="Vec3d" position="@../../../leapMotionDriver.handPalmCoordinate" />
				<Sphere name="colliSphere" contactStiffness="100" group="1" radius="0.07"/>
				<IdentityMapping/>
			</Node>
		</Node>
		<Node name="Fingers" >
			<Gravity name="Gravity" gravity="0 0 0" />
			<MechanicalObject name="handDOFs" template="Rigid" rest_position="@../../leapMotionDriver.fingersCoordinates" showObject="false" showObjectScale="0.02" />
			<RestShapeSpringsForceField  name="RSFF" stiffness="1e3" angularStiffness="1e3" external_rest_shape="../../TrackedHand/TrackedFingers/movingDOFs" recompute_indices="false" />
			<UniformMass name="uniformMass" template="Rigid"  totalmass="0.5" />
			<Node name="Collision_Model" >
				<MechanicalObject name="lineCollisDOFs" template="Vec3d" position="@../../../leapMotionDriver.fingersCoordinates" />	
				<EdgeSetTopologyContainer name="EdgeContainer" nbPoints="15" edges="0 2 2 1   3 5 5 4   6 8 8 7   9 11 11 10   12 14 14 13 " position="@../../../leapMotionDriver.fingersCoordinates" />	
				
				<Node name="Sphere_Collision_Model">				
					<PointSetTopologyContainer name="PointContainer" />		
					<Mesh2PointTopologicalMapping input="@../EdgeContainer" output="@PointContainer" pointBaryCoords="0 0 0" edgeBaryCoords="0.33 0.0 0.0   0.66 0.0 0.0 " />
					<MechanicalObject name="sphereCollisDOFs"/>
					<Mesh2PointMechanicalMapping />
					<Sphere name="colliSphere" group="1" contactStiffness="1e7" contactFriction="0.05" contactRestitution="0" radius="0.0175" />
				</Node>
			</Node>
		</Node>
    </Node>

    Hope this helps,

    Hugo

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