[SOLVED] Geomagic plugin: Problem with reading position in cpp

[bobiko]

Hi all,

I have an issue with Geomagic plugin in cpp. Geomagic driver initializes successfully, but it only updates the orientation of gimbal, whereas position always stays at {0, -11, -3.5}. I tried both simple API and the regular way:

    GeomagicDriver::SPtr driver = sofa::core::objectmodel::New<GeomagicDriver>();
    driver->setName("GeomagicDevice");
    driver->d_deviceName.setValue("Default Device");
    driver->d_orientationBase.setValue({0, 0, 0, 1});
    driver->d_positionBase.setValue({0,0,0});
    driver->d_scale.setValue(1);
    root->addObject(driver);

but the result stays the same. At the same time if I run a sample scene in XML everything works like a charm. Could you tell if there is anything that should be initialized additionally when working with Geomagic plugin in cpp?

Thanks in advance,
Vlad

[Hugo]

Hi @bobiko

I am no big expert of the Geomagic.

Strange, did the calibration phase run properly? maybe run it again.
Is there nothing enforcing these values in your script, because it looks pretty round {0, -11, -3.5} !

Best wishes,

Hugo

[bobiko]

Hi @hugo,

The calibration seems to be fine, as the wrist angles are updated. However, the joint angles are stuck at the initial values {0 0 1.5708}. The last one corresponds to pi/2, so I guess that the actual value that is read is 0, too.

Best regards,
Vlad

[Hugo]

Are the joint angles in the calibration or only during the simulation?

Hugo

[bobiko]

I do not explicitly call calibration in the code, should I? I don’t seem to find a function for that in GeomagicDriver. Joint angles values are like that before and during the simulation. For what it’s worth, calling updatePosition() in main after initialization causes the program to crash.

[bobiko]

Ok, so I have added Geomagic driver sources to the code, and apparently hdhdGetDoublev(HD_CURRENT_TRANSFORM, driver->m_omniData.transform) and hdGetDoublev(HD_CURRENT_JOINT_ANGLES,driver->m_omniData.angle1) always return false values. Still need to figure out why.

Vlad

[Hugo]

Thanks a lot for the feedback @bobiko

Does this ring any bell @epernod?

[bobiko]

Appearently the problem is coming from locales, as written here. I get similar behavior when changing locales and running a sample scene with runSofa. The only question now is why does this happen to a cpp project, when it uses system env vars and should be no difference.

[bobiko]

Whoohoo, I found the answer!The problem was in locales indeed, mine was set to de_BE.UTF-8, and somehow it worked with runSofa, but not in a custom project. When I changed it to en_US.UTF-8, it didn’t work at all. What fixed the problem though was that the device should have been setup with locales to en_US.UTF-8 and run later with this LC_NUMERIC and LANG set to en_US.UTF-8.

[Hugo]

Ok! oO
Thanks for sharing your solution @bobiko!
I close the topic for now. Do not hesitate to reopen it if necessary!

Good job!

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