Proofs with LeapMotion

[Wendy María Arango]

Hi,

Right now I’m trying to use LeapMotion with SOFA.

My question is: how do I prove that’s working?

I mean, how do I prove a scene using Leap?

I’ll be waiting for an answer.

Thanks a lot.

Wendy.

[Guillaume]

Hi Wendy,

Do you mean formal verification? If yes, the SOFA code source (including LeapMotion plugin) has not been through such a process yet.
Please tell us if you are interested in doing this for LeapMotion plugin. I don’t think it would be very difficult for a non-beginner since it is just a driver (there is no simulation algorithm in this plugin).

Cheers,
Guillaume.

[Wendy María Arango]

Hi Guillaume,

What I meant is: how do I create a scene?

I mean, while creating, for example, a liver, what do I have to add in the scene to use LeapMotion when I run the executable?

Thanks a lot.

[Hugo]

Hi wendyarch,

If you want to add a LeapMotion to your initial SOFA scene, here is what you need:

<RequiredPlugin name="LeapMotion Driver" pluginName="LeapMotion" />

to load the LeapMotion plugin (that needs to be compiled before obviously).
Then, you need :

<LeapMotionDriver name="leapMotionDriver" displayHand="true"/>

which is the interface component providing all informations from the Leap.
Finally, you can use it in your scene as detailed in applications/plugins/LeapMotion/examples:

<Node name="TrackedHand" activated="true" >
        <Gravity name="Gravity" gravity="0 0 0" />
        <Node name="TrackedPalm" >
			<MechanicalObject name="movingDOFs" template="Rigid" position="@../../leapMotionDriver.handPalmCoordinate" showObject="false" showObjectScale="0.02" />
		</Node>
        <Node name="TrackedFingers" >
			<MechanicalObject name="movingDOFs" template="Rigid" position="@../../leapMotionDriver.fingersCoordinates" showObject="false" showObjectScale="0.02" />
		</Node>
    </Node>

    <Node name="SimulatedHand" activated="true" >
		<VisualStyle displayFlags="showVisualModels hideBehaviorModels hideCollisionModels hideMappings hideForceFields" />
		<Node name="Palm">
	        <Gravity name="Gravity" gravity="0 0 0" />
			<MechanicalObject name="palmState" template="Rigid" rest_position="@../../leapMotionDriver.handPalmCoordinate" showObject="false" showObjectScale="0.02" />
			<RestShapeSpringsForceField  name="RSFF" stiffness="1e6" angularStiffness="1e3" external_rest_shape="../../TrackedHand/TrackedPalm/movingDOFs" recompute_indices="false" />
			<UniformMass name="uniformMass" template="Rigid"  totalmass="0.1" />
			<Node name="Collision_Model" >
				<MechanicalObject name="collisDOFs" template="Vec3d" position="@../../../leapMotionDriver.handPalmCoordinate" />
				<Sphere name="colliSphere" contactStiffness="100" group="1" radius="0.07"/>
				<IdentityMapping/>
			</Node>
		</Node>
		<Node name="Fingers" >
			<Gravity name="Gravity" gravity="0 0 0" />
			<MechanicalObject name="handDOFs" template="Rigid" rest_position="@../../leapMotionDriver.fingersCoordinates" showObject="false" showObjectScale="0.02" />
			<RestShapeSpringsForceField  name="RSFF" stiffness="1e3" angularStiffness="1e3" external_rest_shape="../../TrackedHand/TrackedFingers/movingDOFs" recompute_indices="false" />
			<UniformMass name="uniformMass" template="Rigid"  totalmass="0.5" />
			<Node name="Collision_Model" >
				<MechanicalObject name="lineCollisDOFs" template="Vec3d" position="@../../../leapMotionDriver.fingersCoordinates" />	
				<EdgeSetTopologyContainer name="EdgeContainer" nbPoints="15" edges="0 2 2 1   3 5 5 4   6 8 8 7   9 11 11 10   12 14 14 13 " position="@../../../leapMotionDriver.fingersCoordinates" />	
				
				<Node name="Sphere_Collision_Model">				
					<PointSetTopologyContainer name="PointContainer" />		
					<Mesh2PointTopologicalMapping input="@../EdgeContainer" output="@PointContainer" pointBaryCoords="0 0 0" edgeBaryCoords="0.33 0.0 0.0   0.66 0.0 0.0 " />
					<MechanicalObject name="sphereCollisDOFs"/>
					<Mesh2PointMechanicalMapping />
					<Sphere name="colliSphere" group="1" contactStiffness="1e7" contactFriction="0.05" contactRestitution="0" radius="0.0175" />
				</Node>
			</Node>
		</Node>
    </Node>

Hope this helps,

Hugo

[Author]

Posts