[SOLVED] Modeling a simple grasper

[Shivashankar]

Hi,
Im trying to build a simple model of a grasping tool to grab a mechanical object that is coupled with a tetFEMForceField. So far, I’ve been able to get the FEM force field to interact with a dental instrument tool (from the demos).

Im trying to modify the obj to make a basic “Y” shaped instrument with a pivot in the middle. That apart, one question on how to model the forces to be applied to the system still remains. Specifically, I simply want to know how do I introduce forces to close/open the grasper.

I tried looking at the MechanicalObjectController’s implementation of the applyController function. I couldn’t follow it as the codebase is a bit unfamiliar.

I guess, I just have 2 questions.

a) Is the approach that Im looking at modeling the grasper a good way to go about this?
b) Am I missing an easier way to add external forces to the system?

Alternatively, am I missing an example .scn demonstrating this?

Regards

Nithin

[Hugo]

Dear Nithin,

Sorry for the delay on your topic.
However, there is already a topic about this: https://www.sofa-framework.org/support/forum/topic/how-to-construct-a-grasper-scenewith-force-feedback/

Let us know if it doesn’t fit what your need.

Cheers,

Hugo

[Author]

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