[Hugo]

Thank you for your reminder @trannguyenle.
Did you or will you have some time for an update of the ROSConnector @faichele?

Hugo

[Hugo]

Hey @anluong

Sorry I am jumping in.. what did you mean by “applying a bending force on your material, that could be done by changing dynamically its rest position” @olivier-goury ?

Hugo

[Hugo]

I close this topic since I replied to you @rmartinez in the other thread, while @mckysd5 ‘s question is solved.

Hugo

[Hugo]

Dear @rmartinez

Thank you for your interest in SOFA and welcome on the SOFA forum.
Sorry for the delay of this reply. The SOFA Week occured last week and kept us busy for some time! We will soon get back on track with a normal rhythm.

In SOFA, we have a script allowing for translating your xml script into a python (2.7) one. It is located in the SofaPython plugin. It is called scn2python.py. But at best, you can learn to understand and make this translation yourself.

I am not sure to understand your question on the AnimationLoop component. An AnimationLoop is a component ordering each simulation step. However, it is not computing anything. It is therefore a quite passive component. And the GUI component does not show much indeed. Doc on the AnimationLoop can be found here.

I don’t know in details the SoftRobot robot tutorial. Maybe @damien-marchaluniv-lille1-fr could help you on this.

I hope this helps.
Best wishes,

Hugo

[Hugo]

Hi @bill757

I will base my example still on the scene examples/Components/mapping/ArticulatedSystemMapping.scn, here note the use of the TorsionForceField :

<Node>
        <EulerImplicitSolver name="cg odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="100" name="linear solver" threshold="1e-20" tolerance="1e-20" />
        <Node name="restarticulation">
            <MechanicalObject name="rest" template="Vec1d" position="0 0 0 0" />
            <FixedConstraint indices="0 1 2 3" />
        </Node>
        <Node name="articulation">
            <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0" />
            <Node>
                <MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0  0 0 0 1  1 0 0  0 0 0 1  3 0 0  0 0 0 1  5 0 0  0 0 0 1  7 0 0  0 0 0 1" />
                <BeamFEMForceField name="FEM" radius="0.1" youngModulus="1e8" poissonRatio="0.45"/>
                <MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 " />
                <UniformMass template="Rigid3d" name="mass" vertexMass="0.1 0.1 [1 0 0,0 1 0,0 0 1]" />
                <FixedConstraint template="Rigid3d" name="fixOrigin" indices="0" />
                <TorsionForceField  indices="2" torque="00" axis="0 0 1"/>
                <ArticulatedSystemMapping input1="@../Articulations" output="@DOFs" />
                <Node name="Collision">
                    <MechanicalObject template="Vec3d" position="-1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5" />
                    <MeshTopology lines="0 1 1 2 2 3 3 0 1 5 5 4 4 0 5 6 6 7 7 4 2 6 7 3 8 9 9 10 10 11 11 8 9 13 13 12 12 8 13 14 14 15 15 12 10 14 15 11 16 17 17 18 18 19 19 16 17 21 21 20 20 16 21 22 22 23 23 20 18 22 23 19 24 25 25 26 26 27 27 24 25 29 29 28 28 24 29 30 30 31 31 28 26 30 31 27" triangles="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24" />
                    <TriangleCollisionModel />
                    <LineCollisionModel />
                    <RigidMapping rigidIndexPerPoint="0 8 8 8 8" />
                </Node>

Is this what you need?

Hugo

[Hugo]

Dear @shahramshokouhfar,

I answer also on the forum on top of your email.
SOFA indeed integrates the API for topological change. This can be noticed in all scenes in the folder : examples/Components/topology/TopologicalModifiers/.
There you will find several volumetric mesh example.

Moreover, having the topology correctly updated when a cut occur is more advanced than element removal / adding. For industrial purposes, a good strategy could be a collaboration with consulting company like InfinyTech3D, who made nice demonstration simulation at our last SOFA Symposium. Let me know if such a connection if of interest.

Best wishes,

Hugo

[Hugo]

Hi @amazier

Did you clean your build just before updating your GCC version?
Best

Hugo

[Hugo]

Thanks for noticing us @mckysd5

I close this topic then.
Best,

Hugo

PS: do not hesitate to join us at the SOFA Week, next Tuesday.

[Hugo]

Hi @shan

I checked in the SoftRobot plugin.
I do not have this warning. What is your SOFA version and the SoftRobot version?

Hugo

[Hugo]

Hi @trannguyenle

I let @omar reply then!
Welcome to SOFA!

Best,

Hugo

[Hugo]

Hi @alain-duguinegmail-com

did you requested the installation of the QtWebEngine at the Qt install?
It is detailed here in the doc.

Best

Hugo

[Hugo]

Hi @shan

Could you please replace in your scene the part:

cylinder.createObject('Mesh', src='@loader', name='cylinderMesh')
cylinder.createObject('MechanicalObject', name='DOF', template='Vec3d', translation=[0.0,0.0,0.0], rotation=[0.0,0.0,0.0])

with:

cylinder.createObject('TetrahedronSetTopologyContainer', name='topo')
cylinder.createObject('MechanicalObject', name='DOF', template='Vec3d', position='@loader.position')
cylinder.createObject('TetrahedronSetTopologyModifier', name='modifier')

It should work. Since some topology information is missing, it has to be computed by SOFA. But to do so, a Modifier must be added.

Best

Hugo

[Hugo]

Last week to register for the SOFA Week! +105 registered participants among which 22% of them are industrial partners and 20 speakers scheduled!
REGISTER NOW!

Do not hesitate to apply for the SOFA open-source awards: a competition open for all!

Looking forward to meeting you online!

–
The SOFA Consortium staff

[Hugo]

Thank you so much @younesssss for being so responsive!

[Hugo]

Hi @shahramshokouhfar

I think the scene examples/Components/mapping/ArticulatedSystemMapping.scn shows how several rigid frames can articulated. You can define the kinematics between them (rotational, translational joints).
I think the doc page could be useful as well.

Best wishes,

Hugo

[Hugo]

Dear @shahramshokouhfar

You can take a look at the scene examples/Components/topology/Tetra2TriangleTopologicalMapping.scn which uses at line 22 an include. This way, you can actually include other xml files.

Best wishes,

Hugo

[Hugo]

Hi @mckysd5

The error By not providing “FindSofaFramework.cmake” in CMAKE_MODULE_PATH shows that you did not specify a CMake entry providing the path to SOFA, despite your are relying on SOFA (find_package).

Best wishes,

Hugo

[Hugo]

Hi @momo2000

How did you estimated the mechanical properties of your ElasticMaterialObject?
I will poke @younesssss which knows way more about this tutorial than I do. Youness could you help Momo on this please?

Best

Hugo

[Hugo]

Hi @shan

how did you generate this mesh? is this from SoftRobots plugin? It looks like a problem in the mesh topology.

Best

Hugo

[Hugo]

Hi @amackeith

you are reminding me that I need to compile SofaCUDA on my new desktop!
What is your SOFA version?
Is there any error/warning message provided?

Best wishes,

Hugo

[Hugo]

Hey @wzdy4444

Good question, it’s nice to see you digging in the code.
CollisionElement in SOFA is implementing : CollisionElementIterator. From the API documentation, you can read that : you can think of a CollisionElementIterator as a glorified pointer to a collision element. It is only there to create a reference to it, not to actual contain its data. Classes derived from TCollisionElementIterator does not store any data, but just provide methods allowing to access the additionnal data stored inside the derived CollisionModel. For instance, the Cube class adds the minVect() / maxVect() methods to retrieve the corners of the cube, however this data is not stored inside Cube, instead it is stored inside the CubeData class within CubeModel.

CollisionModel is the model describing the kind of primitives which will be used for the collision: line (edge), triangle, quad, tet, capsule, cylinder etc.

To see how collision information is stored, you can have a look to the ContactListener for instance. You will notice how maps are created, storing information relate to object1 and object2 involved in the collision.

Best wishes,

Hugo

[Hugo]

Hi!

thank you @scheikl for the support.

@jonny, could you share with us your attempt scene for instance the one using LinearMovementConstraint? I would start from here to provide you an example.

Best wishes,

Hugo

[Hugo]

Hi @amackeith

Would you like to take images at each time steps?
Or would you like your Python script to save an image only at very specific moments?

I doubt that with Python 2.7 you will be able to trigger keyboard event, I never tried it myself. Could you give it a try?

The usual keyboard pressed “v” key does not suit your need I guess?

Hugo

[Hugo]

Hi @bill757

Thank you for your question and welcome on the forum!

Looking at the example scene examples/Components/mapping/ArticulatedSystemMapping.scn, you can for instance access the DOF of the Vec1d MechanicalObject in the node “restarticulation”. This MechanicalObject contains the rotation angle of this articulated chain.

I think this is what you are looking for.
Best wishes,

Hugo

[Hugo]

Ok @mckysd5

You can take a look at the other applications in SOFA/applications/tutorials/oneTetrahedron/oneTetrahedron.cpp. There, you should find all you need 😉

Best

Hugo

[Author]

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