mapping between the haptic device and a deformable instrument

[shang]

hi, I have a problem on the dynamic mapping the geomagic device and the behavioral model of my deformable instrument ( guidewire)
the xml code is illustrated bellow:

<?xml version="1.0"?>
<Node name="root" gravity="0 0 0" dt="0.01" >

    <RequiredPlugin pluginName="Geomagic"/>

	<VisualStyle displayFlags="showVisualModels showBehaviorModels hideCollisionModels hideBoundingCollisionModels hideMappings hideMechanicalMappings hideForceFields hideInteractionForceFields hideWireframe hideNormals" />

    <GeomagicDriver name="GeomagicDevice" deviceName="Default Device" scale="1" drawDeviceFrame="1" positionBase="0 0 0" orientationBase="0 0 0 1"  />

	<MechanicalObject template="Rigid" name="GeomagicMO" position="@GeomagicDevice.positionDevice" />
	
	<Node name="guidewire">
	
		<EulerImplicit rayleighStiffness="0" printLog="false" />
        <BTDLinearSolver template="BTDMatrix6d" printLog="false" verbose="false" />
	
		<MechanicalObject template="Rigid" name="guidewirestates" 
		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  8 0 0 0 0 0 1  9 0 0 0 0 0 1  
		10 0 0 0 0 0 1  11 0 0 0 0 0 1  12 0 0 0 0 0 1  13 0 0 0 0 0 1  14 0 0 0 0 0 1  15 0 0 0 0 0 1  16 0 0 0 0 0 1  17 0 0 0 0 0 1  18 0 0 0 0 0 1  19 0 0 0 0 0 1
		20 0 0 0 0 0 1  21 0 0 0 0 0 1  22 0 0 0 0 0 1  23 0 0 0 0 0 1  24 0 0 0 0 0 1  25 0 0 0 0 0 1  26 0 0 0 0 0 1  27 0 0 0 0 0 1  28 0 0 0 0 0 1  29 0 0 0 0 0 1" />
		
		<Mesh name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 
		10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20
		20 21 21 22 22 23 23 24 24 25 25 26 26 27 27 28 28 29" />
		
		<FixedConstraint name="FixedConstraint" indices="0 1" />
		<UniformMass mass="1 1 0.01 0 0 0 0.1 0 0 0 0.1 1" printLog="false" />
        <BeamFEMForceField name="FEM" radius="0.07" youngModulus="5000000000" poissonRatio="0.6"/>
		
		<Node name="visual">
			<CylinderGridTopology nx="6" ny="6" nz="30" length="30" radius="0.1" axis="1 0 0"  />
			<OglModel color="gray" />
			<BeamLinearMapping isMechanical="true" />
			<!-- <Triangle /> -->
		</Node>
	
	
		<!-- ERROR : 
		[ERROR]   [DAGNode "guidewire"] Object type "RigidMapping" creation Failed
		[ERROR]   [SceneLoaderXML] Node initialization failed. 
		-->
		<RigidMapping input="@GeomagicMO" output="@guidewirestates"  />		
	</Node>
	
	<OglSceneFrame style="1"/>
</Node>

<RigidMapping input="@GeomagicMO" output="@guidewirestates" />
runsofa showed error in the console about the mapping above
[ERROR] [DAGNode “guidewire”] Object type “RigidMapping” creation Failed
[ERROR] [SceneLoaderXML] Node initialization failed.

[Hugo]

Hey @xiaojuan,

You should use the RigidRigidMapping creating a connection between two rigid bodies. RigidMapping links a deformable on a rigid body FYI.

See previous discussion : https://www.sofa-framework.org/community/forum/topic/mapping-between-rigid-and-deformable-objects/

Best,

Hugo

[Author]

Posts