[SOLVED] Issue of error simulating catheter using CatmullRomSplineMapping etc components

[shang]

Hi sofa consortium,
I have always been trying to simulate a catheter in my VR-based endovascular interventional surgical system, and I found a component called CatmullRomSplineMapping, this can simulate a spline like the following pic.

but a problem rose when I simulate my scene file which is attached with the email.
the component is always created in a failure just like the pic below

I am looking forward to get some tips from the consortium, I will appreciate .
the scene file is followed below:

<?xml version=”1.0″ ?>
<Node name=”root” dt=”0.01″>
<VisualStyle displayFlags=”showForceFields showCollisionModels” />

<RequiredPlugin name=”Geomagic plugin” pluginName=”Geomagic” />

<CollisionPipeline name=”pipeline” depth=”6″ verbose=”0″/>
<BruteForceDetection name=”detection” />
<CollisionResponse name=”response” response=”FrictionContact” />
<LocalMinDistance name=”proximity” alarmDistance=”0.15″ contactDistance=”0.05″ angleCone=”0.0″ />
<FreeMotionAnimationLoop/>
<LCPConstraintSolver tolerance=”0.001″ maxIt=”1000″/>
<GeomagicDriver name=”GeomagicDevice” deviceName=”Default Device” scale=”1″ drawDeviceFrame=”1″ positionBase=”0 0 0″ orientationBase=”0 0.707 0 -0.707″ />
<Node name=”omni”>
<MechanicalObject template=”Rigid” name=”DOFs” position=”@GeomagicDevice.positionDevice”/>
<MechanicalStateController template=”Rigid” listening=”true” mainDirection=”-1.0 0.0 0.0″ handleEventTriggersUpdate=”true”/>
<Node name=”VisuAvatar” activated=”false” >
<OglModel name=”Visual” fileMesh=”mesh/sphere.obj” color=”gray” scale=”0.1″/>
<RigidMapping input=”@..” output=”@Visual” index=”0″/>
</Node>

<Node name=”RefModel”>
<Mesh name=”lines” lines=”0 1 1 2 2 3 3 4 4 5 5 6 6 7″ />
<MechanicalObject template=”Vec3d” name=”instrumentCollisionState” translation=”0 0 1″ position=”0 0 0 1 0 0 2 0 0 3 0 0 4 0 0 5 0 0 6 0 0 7 0 0″ />
<RigidMapping />
</Node>
</Node>
<Node name=”Instrument”>
<EulerImplicitSolver rayleighStiffness=”0.01″ rayleighMass=”0.01″ />
<CGLinearSolver template=”GraphScattered” iterations=”20″ threshold=”1e-008″ tolerance=”1e-5″ />
<MechanicalObject name=”instrumentState” position=”@GeomagicDevice.positionDevice” template=”Rigid” />
<UniformMass name=”mass” totalmass=”0.005″ />
<LCPForceFeedback activate=”true” forceCoef=”0.005″/> <!– ADDED : Compute a force-feedback for the device –>
<UncoupledConstraintCorrection/>

<Mesh name=”lines” lines=”0 1 1 2 2 3 3 4 4 5 5 6 6 7″ />
<MeshSpringForceField name=”Springs” stiffness=”100000″ damping=”0″ />
<LineBendingSprings name=”BS” stiffness=”100″ damping=”0″ />
<EdgeSetTopologyContainer />
<EdgeSetTopologyModifier />
<Node name=”CollisionModel”>
<Mesh name=”lines” lines=”0 1 1 2 2 3 3 4 4 5 5 6 6 7″ />
<MechanicalObject name=”instrumentCollisionState” />
<CatmullRomSplineMapping input=”@instrumentState” output=”@instrumentCollisionState” SplittingLevel=”3″ />
<Line />
<Point />
<RigidMapping name=”MM->CM mapping” input=”@instrumentState” output=”@instrumentCollisionState” />
</Node>
<VectorSpringForceField template=”Vec3d” object1=”@Omni/RefModel/instrumentCollisionState” object2=”@Instrument/CollisionModel/instrumentCollisionState” stiffness=”10″ viscosity=”0″ />
</Node>
</Node>

Thank you!

[shang]

sorry, i tried to outlined the code, but it did not work like i edited using indentation when posted it.

[Hugo]

Hi @xiaojuan,

I fixed the layout for you. You need to set the code marker at the beginning, jump a line and at the end set another code marker.

It looks like a pretty old component. At least, I did not know it!
The scene examples/Components/mapping/CatmullRomSplineMapping.scn is working fine for me. I am using the master branch on Linux. Are you using SOFA v16.08 ?

Otherwise, you can look at the BeamFEMForceField example (examples/Components/forcefield/BeamFEMForceField.scn). Hope this helps

Hugo

[shang]

hi hugo, actually, the scene file I posted is not the file CatmullRomSplineMapping.scn in examples/Components/mapping/CatmullRomSplineMapping.scn, I changed it and made a certain scene file of myself. I want to simulate the catheter and give it a forcefield and map it with the geomagic device. But it seems that there exists many problems of the communication between geomagic device and the catheter model with a forcefield or other components. Is this really true that no one can solve this problem? @Hugo

[Hugo]

Hey Xiaojuan,

By comparing your scene with the CatmullRomSplineMapping.scn, I noted that you were using a Rigid template for the MechanicalObject, whereas the CatmullRomSplineMapping does only handle Vec3d/Vec3f types.

Hugo

[shang]

wow,that may exactly be the problem, thank you a lot, Hugo! I will try it.

[Hugo]

Hey @xiaojuan
Any good news ?

[shang]

Dear Hugo,
thank you for asking, actually, I followed your advice and adopted the BeamFEMforceField to simulate the catheter that I need, and what i need to do next is to link the geomagic device, Touch X with the virtual catheter. but as we can see in the “catheter” node

    <Node name="catheter">
        <EulerImplicit rayleighStiffness="0" printLog="false" />
        <BTDLinearSolver template="BTDMatrix6d" printLog="false" verbose="false" />
        <MechanicalObject template="Rigid" name="DOFs" position="0 0 0 0 0 0 1  1 0 0 0 0 0 1  2 0 0 0 0 0 1  3 0 0 0 0 0 1  4 0 0 0 0 0 1  5 0 0 0 0 0 1  6 0 0 0 0 0 1  7 0 0 0 0 0 1" />
        <Mesh name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
        <FixedConstraint name="FixedConstraint" indices="0" />
        <UniformMass mass="1 1 0.01 0 0 0 0.1 0 0 0 0.1" printLog="false" />
        <BeamFEMForceField name="FEM" radius="0.1" youngModulus="20000000" poissonRatio="0.49"/>
        <Node name="Collision">
            <CubeTopology nx="15" ny="2" nz="2" min="0 -0.1 -0.1" max="7 0.1 0.1" />
            <MechanicalObject />
            <BeamLinearMapping isMechanical="true" />
            <Triangle />
        </Node>
    </Node>

I have no idea how to map position of the first point of the catheter to the Touch X geomagic device, so I tried to write python scripts using PythonScriptController component to realize this goal,and the python script is as follows:

import sofa

class geomagic(Sofa.PythonScriptController):
        def onLoaded(self,node):
                self.rootNode = node.getRoot()
                self.MechanicalState = node.getObject('deviceDOFs')
                return 0
        def onBeginAnimationStep(self,dt):
                data = self.MechanicalState.position
		self.rootNode.sendScriptEvent('geoPos',data)
		return 0
class catheter(Sofa.PythonScriptController):
        def onLoaded(self,node):
                self.MechanicalState = node.getObject('catheterDOFs')
                return 0
        catheterPos = self.MechanicalState.position
        def onScriptEvent(self,senderNode,eventName,data):
                if eventName = 'geoPos'
                    catheterPos[0] = data
                    self.MechanicalState.position = catheterPos
                    return 0

the callback of PythonScriptController component in XML is like

<PythonScriptController name="device" filename="catheterScripts.py" classname="geomagic"/>

but error occured like the image shows

[shang]

I have figured out the problems, it is about the python syntax problems, I have accomplished to control the catheter by keyboard, but I still can not successfully map the position value between virtual catheter(the FEM beam) and the geomagic device. And I am trying to revise my python code to have a try. Than you very much! @Hugo

[Hugo]

Ok xiaojuam, since you opened this new thread for the mapping problem, shall we close this topic ?
Cheers.

Hugo

[shang]

ok, that’s ok, sorry being so late!

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