[elieK]

Hello Sara,

I am not sure if it could be a hotkey issue as I have never used Sofa on a mac. I have put the code on a drive below:

https://drive.google.com/drive/folders/1-MfPOVGQQQIxwVqzzRvpJwjnZ9iwnA7Z?usp=sharing

In this drive, there is both your modified implementation, and a second script testMesh-2.py. In this second script, I added the collision model and added the “TetrahedronSetTopologyContainer” as in the tutorial. Both scripts work for me, but you can try to see maybe adding these elements in testMesh-2.py could fix your issue. If not, could you add a print(c) command inside the onKeyPressed in the interaction class to check if it capturing the correct keys and if it is going into the conditional blocks.

Best regards,
Elie

[elieK]

Hello Sarah,

If you take the complete code in the previous comment, you should be able to bend the finger with ctr M and ctr – in its initial position.

I saw that there is still an issue where the finger actuation doesn’t work when you move the finger too far from its original position, I think I found the issue: When creating the fixed box you need to specify that you don’t want it to update during the simulation. I also propose that you use a slightly bigger boxROI because a small portion of the finger is left out from below.

    finger.createObject('BoxROI', name='boxROI', box='-20 20 70 20 -2 80', doUpdate=False, drawBoxes='true')

Replacing the line above in your code, I was able to move around the finger and bend it with no problems. Let me know if this works.

Best regards,
Elie

[elieK]

Hello Sara,

I tried to change a bit in your test scene, I managed to move the finger.
Can you try to replace the code in interactiveFinger.py to:

import Sofa
import math

class interaction(Sofa.PythonScriptController):
    def initGraph(self, node):
        self.node = node
        self.f1Node=self.node.getChild('finger')
        self.cableconstraint1Node=self.f1Node.getChild('PullingCable')
        self.cableconstraintvalue = self.cableconstraint1Node.getObject("CableConstraint").findData('value')

    def onKeyPressed(self,c):
        if (c == "M"):
            self.cableconstraintvalue.value = self.cableconstraintvalue.value[0][0] + 1.
        if (c == "-"):
            self.cableconstraintvalue.value = self.cableconstraintvalue.value[0][0] - 1.

def getTranslated(points, vec):
    r=[]
    for v in points:
        r.append( [v[0]+vec[0], v[1]+vec[1], v[2]+vec[2]] )
    return r

class GripperController(Sofa.PythonScriptController):
    def initGraph(self, node):
        self.node = node
        self.fingers = [self.node.getChild('finger')]
        self.name = "FingerController"

    def onKeyPressed(self,c):
        dir = None
        # UP key :
        if ord(c)==19:
            dir = [0.0,1.0,0.0]
        # DOWN key : rear
        elif ord(c)==21:
            dir = [0.0,-1.0,0.0]
        # LEFT key : left
        elif ord(c)==18:
            dir = [1.0,0.0,0.0]
        elif ord(c)==20:
            dir = [-1.0,0.0,0.0]

        if dir != None:
            for finger in self.fingers:
                mechanicalObject = finger.getObject("finger_tetras")
                mechanicalObject.findData('rest_position').value = getTranslated(mechanicalObject.rest_position, dir)

                cable = finger.getChild("PullingCable").getObject("CableConstraint")
                p = cable.pullPoint[0]
                cable.findData("pullPoint").value = [p[0]+dir[0], p[1]+dir[1], p[2]+dir[2]]

and add the additional controller to your testMesh.py:
rootNode.createObject('PythonScriptController', filename="./interactiveFinger.py", classname="GripperController")

With that I was able to actuate the finger and move it in the plane. Does this solve your issue?
I wasn’t able to test your initial gripping scene because the file hemi_vol is missing.

Best regards,
Elie

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