[Hugo]

Hi @baymin

thanks for sharing your solution.
Best

Hugo

[Hugo]

Hi @ericcui

I close this topic since the question got a reply there: https://www.sofa-framework.org/community/forum/topic/access-object-data-on-the-fly-sofapython3/

Best

Hugo

[Hugo]

Hi @ericcui

My apologies for this late reply.

Have you tried to first click in the view of SOFA? To properly listen and take into account the events like keyboard interactions, we must first click in the view of the runSofa application. Let me know if this helps.

Else, everything looks correct to me. No other errors in the command prompt?

Best wishes,

Hugo

[Hugo]

Great @akthetimes

All my apologies for the delay!
Thanks for closing the topic, do not hesitate to keep us updated!

Best

Hugo

[Hugo]

Hey @ztjsofa

Could you make a screenshot of the full screen to see what you see?
It will help, thanks.

Hugo

[Hugo]

Hi @baymin

Would you have some scene example we could actually test?

Best

Hugo

[Hugo]

Hey @ztjsofa

Could you then tell me which command do you run?

Best

Hugo

[Hugo]

Hey @akthetimes

This depends on where/what is your code supposed to be implemented?
What is this C++ code you want to write?

Best

Hugo

[Hugo]

Dear @ericcui

Indeed since the recent versions of SOFA (v21.06 and more recent) the way to access a data is using tissue_box.indices. The getObject is a deprecated approach.

Best wishes,

Hugo

[Hugo]

Dear @ericcui

I know how difficult it can be to revive someone else’s code.
But cutting is not an easy topic.
Moreover, the SOFA API evolved recently on this topic, but examples on cut made with haptic devices are still missing.

If the code is too hacky, then maybe it would be safer to restart from fresh. But you are the one to have the decision.
You can take a look at the component TopologicalChangeProcessor which is allowing to process known-in-advance topological changes.

Keep us closely updated, this is a topic of interest.
Best wishes,

Hugo

[Hugo]

Hey @dlouis

I think a good example of what you would like is given in the MechanicalMatrixMapper.pyscn.

In the above-mentioned scene, if you add the following :

Plate = RigidNode.createChild('Plate')
        Plate.createObject("MeshGmshLoader", name="plateLoader", filename="mesh/simple_square.msh", translation="-5 -5 0")
        Plate.createObject("TriangleSetTopologyContainer", name="topo", src="@plateLoader")
        Plate.createObject("MechanicalObject", name="plateMO", template="Vec3d", showObject="1")
        Plate.createObject("TriangleCollisionModel")
        Plate.createObject("RigidMapping")

you would then have a beam with a plate at the extremity.
Best

Hugo

[Hugo]

Hey @dlouis

Great to read that you solved the issue.
Your question is actually different than the topic title. Is this correct?

@damien-marchaluniv-lille1-fr I do not remember how compatible were the v19.06 binaries of Defrost (including SoftRobots etc) was compatible with python3. Was it?

Else @dlouis :
– you can compile the SoftRobots plugin aside SOFA
– the new release of SOFA is coming very soon and the associated SoftRobots, you can wait for it

Best

Hugo

[Hugo]

Hey @ztjsofa

are you running SOFA from python?
The black background is due to the fact you need to load the CImgPlugin.
In python: SofaRuntime.importPlugin("CImgPlugin")

Else are simulations running fine?

Best

Hugo

[Hugo]

Thumbs up @serkan-ergun!
May I close the topic for now?

Best,

Hugo

[Hugo]

hey @ericcui

Definitely, please find the readthedoc for SofaPython3!

I advice you to take a look this example which gives a good example of a so-called “python controller” : a python class that allows to define actions while the simulation is running.

However, in your case, all you need to do is to define a BoxROI with a FixedConstraint more or less as follows:

node.addObject('BoxROI', name="BoxSelectingPointToBeFixed", box="-999 -999 -999 0.01 999 999" )
node.addObject('FixedConstraint', name="FixedConstraint", indices="@BoxSelectingPointToBeFixed.indices", listening="true")

Best wishes,

Hugo

[Hugo]

Hi @ewpostek

This is a compatibility layer for developers in order to assist them following the SOFA life cycle (changes between v20.12 and v21.06). However, no worry: this does not disrupt the building.

Best wishes,

Hugo

[Hugo]

Hi @ananya

Please refer to the VTKExporter:
– doc page
– scene example file

If the VTK format does not suit you, you can also export all visual models using a OBJExporter. Or, finally, you can also make your own exporter in python.

Best wishes,

Hugo

[Hugo]

Hi @simonwise

I do not know any application connecting SOFA and the Sophia robot.
The community is not very much active on humanoid robots, but rather on other soft-robotic applications.

Without being involved in the Sophia project, I would recommend to contact the project leaders directly.

Best,

Hugo

[Hugo]

Hey @roger

I must (again!) apologize for the delay of my reply.
SOFA is definitely able to simulate the scenario you are looking at.

If the scene files/info I sent you per mail do not suffice, let us know!

Find further information on:
– How to get involved
– watch our Tutorials on YouTube
– follow the online documentation
– browse the SOFA API

Note that you can always take part in training session.

Best

Hugo

[Hugo]

Hey @vanisri

You can use a TranformEngine.
You can find an example scene in: examples/Components/engine/TransformEngine.scn

Best wishes,

Hugo

[Hugo]

Hey @vanisri

The FixedConstraint aims at fixing a point by projecting a zero delta of velocity between two time steps:

Therefore, if you specify an initial velocity in your MechanicalObject, like:

<MechanicalObject template="Rigid3d" name="myParticle" 
            position="0 0 0    0 0 0 1" 
            velocity="1 0 0    0 0 0"
            showObject="1" />

Even if the DOF are fixed, a constant velocity will be kept.
Is this what you aim at doing?

Best wishes,

Hugo

[Hugo]

Hey @eaparra

You can reload the scene file and the entire simulation using CTRL+R keyboard shortcut.
Is this what you are looking for?
Best wishes,

Hugo

[Hugo]

Hi @eaparra

A first simple question:
– have you tried decreasing the time step?
– have you tried decreasing the mesh resolution (number of beams)?

Do the results / accuracy get affected?
Best wishes,

Hugo

[Hugo]

Hi @shaswat2001

We do not have super-elastic material in SOFA. However, an innovative project is ongoing to couple SOFA and FeniCS to have the possibility to define the material and its energy formulation and run it in SOFA: https://github.com/Ziemnono/SofaSimpleForceField_FEniCS

It would thus be possible to implement new material laws like Nitinol.

Best wishes,

Hugo

[Hugo]

Alright @toriwalnuss
Thanks for the feedback.

No need to delete the topic, marking it at solved with the solution in it is perfect.
Best,

Hugo

[Author]

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