[SOLVED] MechanicalObject and ArticulationCenter classes

[luibass92]

Hi guys,

I have a new question for you!
I’m taking a look to the scene ArticulatedSystemMapping.scn (in examples/Components/mapping/) and I’m trying to recreate a similar scene with a different configuration of the articulations.

I have the position/orientation of 5 MechanicalObject (I guess they are called DOFs):

<MechanicalObject template="Rigid" name="DOFs" position="0 0 0 0 0 0 1 0 1.1 0 0 0 0 1 0 6.1 0 0 0 0 1 0 9.3 0 0 0 0 1 0 10.8 0 0 0 0 1" />

and later in the code I have some articulationCenter and relative articulations:

<ArticulatedHierarchyContainer />
            <Node name="articulationCenters">
<!--MED FINGER!-->
                <Node name="articulationCenter1">
                    <ArticulationCenter parentIndex="0" childIndex="1" posOnParent="0 0 0" posOnChild="0 -11 0" articulationProcess="0" />
                    <Node name="articulations">
                        <Articulation translation="0" rotation="0" rotationAxis="1 0 0" articulationIndex="0" />
                    </Node>
                </Node>
		<Node name="articulationCenter2">
                    <ArticulationCenter parentIndex="1" childIndex="2" posOnParent="0 0 0" posOnChild="0 -5.004 0" articulationProcess="0" />
                    <Node name="articulations">
                        <Articulation translation="0" rotation="1" rotationAxis="1 0 0" articulationIndex="1" />
                    </Node>
                </Node>
		<Node name="articulationCenter3">
                    <ArticulationCenter parentIndex="2" childIndex="3" posOnParent="0 0 0" posOnChild="0 -3.2 0" articulationProcess="0" />
                    <Node name="articulations">
                        <Articulation translation="0" rotation="1" rotationAxis="1 0 0" articulationIndex="2" />
                    </Node>
                </Node>
		<Node name="articulationCenter4">
                    <ArticulationCenter parentIndex="3" childIndex="4" posOnParent="0 0 0" posOnChild="0 -1.5 0" articulationProcess="0" />
                    <Node name="articulations">
                        <Articulation translation="0" rotation="1" rotationAxis="1 0 0" articulationIndex="3" />
                    </Node>
                </Node>
            </Node>

So, as you can see, I have an articulated chain with 5 DOFs and 4 articulations between them (it should be something similar to a robotic finger) and until this point everything goes fine, SOFA runs the scene and it works as it should.

The problem is when I try to add another DOF and another articulation that has as parentIndex the index of a DOF already used in the first articulation chain and as childIndex the index of the new DOF just added.
In easy words I’m trying to create another articulated chain starting from the same DOF of the first articulated chain (0 0 0 0 0 0 1).

In this case when I try to run the scene SOFA crashes and nothing can be done…

Doesn’t SOFA allow to have a parent DOF in common for 2 different articulations?
Do you have some tips?
Thanks, Luigi

[luibass92]

I think I’ve solved this issue just creating another “ArticulatedHierarchyContainer” with his own “ArticulationCenters”… It seems to work now!

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