[SOLVED] Collision problems in grasping using Phantom omni

[BEK]

Hi, everyone.

I have a question. I used One omni devices and I designed the grasper applied two collision models: one is rotated tip, other is base one.

These models are rigid mapping to a parent node and it linked to Omni device.
<RestShapeSpringsForceField template="Rigid3d" name="restShapeSpringsFF1" points="0" stiffness="1e+006" angularStiffness="2e+008" external_rest_shape="../OmniObject/RigidLayer/Tool1/RealPosition" />

the problem is that two collision models act like separately linked omni devices. I attached the video link. video
so it made collision problems.

I tried to test both geomagic plugin and sensable (newOmnidriver) plugin, but it still had the same problems.

Should I make a fixed constraint? or Bilateral interaction constraint between two collision models? Should I modify NewOmniDriver.cpp?

Thank you for your support!

[Hugo]

Dear Bek,

Could you share the scene it would help testing it?
Otherwise, you should strongly get involved from /data/Softwares/sofa/src/master/applications/plugins/Geomagic/scenes/Geomagic-FEMLiver.scn but I guess you already did.

Hugo

[BEK]

Oh, I solved the problems to add “Bilateral interaction constraints” between two collision models. I changed the states.

Thanks.

[Hugo]

Great to hear, thank you for keeping us updated @eunkyungbae
Best wishes,

Hugo

[Author]

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