[SOLVED] Kinematic chain creation

[luibass92]

Hi everyone!

I’m a SOFA new user and I need to create a kinematic chain but I don’t know how to do it. In particular I need to recreate the schunk robotic hand.
Here there is a scheme of the hand:
http://wiki.ros.org/schunk_svh_driver?action=AttachFile&do=get&target=svh_joint_names.png

I don’t care about the visualization/rendering problems, just the kinematic chain is OK for the moment.

I tried to use the Modeler but it doesn’t seem to work properly, I have a lot of errors, so I guess I have to create the scene completely in XML.
The tutorials have visualization errors too and I have a lot of difficulties to use them so I don’t think they can be helpful.

Can you please help me in some ways? Do you have some examples that I can take as a starting point?

Thanks and best regards.

[Matthieu Nesme]

Hi,

have a look to the Compliant plugin and its python API (StructuralAPI).

The example sofa/applications/plugins/Compliant/examples/bielle_manivelle/structuralAPI.py shows how to build such a system.

— Matthieu

[luibass92]

Hi Matthieu,

first of all thanks for your reply.
I have tried to install the Compliant plugin: I have done the configuration another time checking the right box and I have done the make another time, but I have the following error during the make process

In file included from /home/luigi/sofa/v16.08/src/applications/plugins/Compliant/initCompliant.cpp:26:0:
/home/luigi/sofa/v16.08/src/applications/plugins/Compliant/../SofaPython/PythonCommon.h:28:24: fatal error: Python.h: File o directory non esistente
 #    include <Python.h>
                        ^
compilation terminated.
make[2]: *** [applications/plugins/Compliant/CMakeFiles/Compliant.dir/initCompliant.cpp.o] Errore 1

Do you know how to solve it? It seems that the Python.h file included in the PythonCommon.h is lost.
Maybe it’s useful to know that during the configuration I haven’t installed anything but the default things and the Compliant plugin.

EDIT: I have solved the problem installing the PLUGIN_SOFAPYTHON too. Now the compilation works.

[luibass92]

I’ve just seen the example, it seems useful but really hard to understand for a really new user like me.
I was looking for something easy like two or three links linked by rotational joints or something similar.

Thanks, Luigi.

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