[adamzhang]

Hi, @Hugo

Fantastic!

Good to know the information you provided. I will go and check out those implementation of haptic feedback. But i have to admit, reading the gigantic trunk of your code and trying to understand them properly is not the easy, since I am not really familiar with those principles, theories and algorithms of FEM, contact, collision detection and modeling. Hopefully I will catch up quickly.

Thank you for your help again.

[adamzhang]

Hey, @faichele

It is great to have your reply in time.

I am very happy to hear this positive news. My tactile sensor geometry and contact are certainly quite simple, although contact objects could vary quite largely -> contact shapes could have high dimension considering different objects.

I noticed the ROS plugin for Sofa before, but I didn’t expect to get reply from the author :). By the way, I am hesitating if I want to go into Sofa framework for general robotics researching purposes. What I do for research is mainly robotic manipulation (e.g. pick and place as a simplest case). So what is your motivation to develop this ROS plugin for Sofa considering Sofa has it advantages on deformable object simulation mostly (My view might be biased and inaccurate). After all, this is a risk evaluation before investing large amount of time, right?

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