[SOLVED] How to give offset distance of collision in geomagic haptic simulation

[Suwan]

Hello,

I am using SOFA geomagic plugin and my device is Geomagic Touch X.
I refered SOFA examples.
I am making a scene that touches a softbody by a tool with geomaic haptic.
Then center of mass of the tool is the tip of the tool as showen figure.

I want to move center of mass to the handle of the tool.
So I hope to simulate touching a softbody with grasping the tool.
In other words, the handle of haptic is that of the tool.

Please let me know if you have any idea!

Thank you in advance.

[Hugo]

Dear @suwan,

The Geomagic driver only returns the base and the tool tip positions and orientations. However, based on this information, you can easily create a translated frame (on the handle of the tool) by applying a translation in the x direction (from your picture):

<GeomagicDriver name="GeomagicDevice" deviceName="Default Device" positionBase="0 0 0" orientationBase="0 0.707 0 -0.707"  /> 
..

<Node name="anotherSubNode">
	<MechanicalObject name="translatedFrame" template="Rigid" position="@../GeomagicDevice.positionDevice" translation="1 0 0" />
</Node>

Let me know if this is what you intend to do?
Best,

Hugo

[Suwan]

Dear @Hugo

As I know, collision point of geomagic haptic in SOFA is regarded as showen figure,
.

However, I want to simulate as showen figure,
.

Please let me know if not satisfied with my explanation.

Best regards,
Suwan

[Hugo]

Dear @suwan,

Have you tried my piece of code above?
I think this should work to add a new MechanicalObject translated as you desire.

Best

Hugo

[Suwan]

Dear @hugo

I have tried your code snippet, but failed.
Could you suggest how I have to add a new MechanicalObject translated for solving it?
Sorry I am still a beginner in SOFA.

Best regards,
Suwan

[Suwan]

Dear @hugo

I solved the case.

I translated a collision model and a visual model, and didn’t the MechanicalObject of Geomagic.
It worked even though the simulation didn’t look good.
Please let me know if you have any comments.
Thank you so much.

Best regards,
Suwan

[Hugo]

Dear @suwan,

Thanks for letting us know about your solution!
Best

Hugo

[Author]

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