[Hugo]

Hi @shahramshokouhfar

For coupling SOFA with devices, you need to have a dedicated interface/driver. We already have plugins for LeapMotion, Geomagic etc. In your case, you would need to create your own driver. Which Joystick is that?

Best

Hugo

[Hugo]

Thanks a lot for the input @jlorenze,

@damien-marchaluniv-lille1-fr could you help us on this one?

Best

Hugo

[Hugo]

Hi @antonio-8196

First of all, our apologies for the delay. We had not much time this last month. We will definitely strengthen our online support in the coming weeks.

Regarding your feedback:
– for Python, the plugin seems properly loaded:
[INFO] [PluginManager] Loaded plugin: /home/klugerjaeger/My-SOFA/build/lib/libSofaPython.so

– for the 2 exceptions when did they occurred? Was this when closing SOFA?

Otherwise, can you properly run your simulations?
Best wishes,

Hugo

PS: to know what is your version of SOFA, you can run git log in the source repo of SOFA

[Hugo]

Hi @benjamin5523,

First of all, our apologies for the delay. We had not much time this last month. We will definitely strengthen our online support in the coming weeks.

Self collision (activated using the data “selfCollision” in the CollisionModels) is working in SOFA when using the Lagrange multiplier approach for constraint solving.
Which method did you use your tests? Could you share the scene (or a simplified version of it) ?

I hope this helps you, Ben.
Best,

Hugo

[Hugo]

Hi @brunob81hk

I hope you are doing great. What’s up with ROS, were you able to achieve to connect SOFA and ROS? Using the SofaROSConnector plugin or the python lib?
I checked the CMakeLists line 69 does not seem to have the find_package referred in your error shell.

Looking forward to hearing from you Bruno.
Best wishes,

Hugo

[Hugo]

Hi @jjcasmar

Thank you for your question.

@damien-marchaluniv-lille1-fr could you please bring us some light on this point ?

Best

Hugo

[Hugo]

Hi @mingxuecai

Something is actually incorrect in your statement: The forum said, “import Sofa” is only compatible with SofaPython3. We might have been unclear about this.

SofaPython(2.7) only allows to run Python script (containing the command “import Sofa”) from the runSofa GUI. If you want to use SOFA from a Python environment (and not using runSofa), there, you have to use SofaPython3.
I hope this makes things more clear.

Currenlty, using one or the other depends on you needs (and your OS).
But starting from v20.12 only SofaPython3 will be supported.

For the moment STLIB is not compatible with SofaPython3 but the migration is ongoing, right @damien-marchaluniv-lille1-fr ?

Best wishes,

Hugo

[Hugo]

Hey @heroamir

I am really sorry for the latency, we are busy to get more and more workforce on SOFA! We will now be more active on the forum.

You can take a look at this post. Let me know if it helps.

Best

Hugo

[Hugo]

Hi @winhell

After discussion with the devs, this does not exist. But it would very nice to be implemented.
Similar projects are done using Qt5Quick, Qt3D and others.

Best,

Hugo

[Hugo]

Hi @momo2000

In SOFA, we have a specific way of describing objects and their nature (deformable vs rigid) through templates in the scenes. You can take a look at the starting documentation online.
Feel free to check out out training sessions as well.

Best wishes,

Hugo

[Hugo]

Hi @fleonard,

I know a bit this part of SOFA, we could setup a meeting. Feel free to contact me per email. Do not forget to come back here in the forum to update about your future progresses 😉

Hugo

[Hugo]

Thanks @secretdevil!
Hi @bill757

The solution pointed by Binesh is indeed to use the command runSofa -g batch to avoid having the GUI associated to runSofa. Another alternative would be to create your own Main.cpp / executable building and running your scene.

Best

Hugo

[Hugo]

Hi @outtt

I see you are achieving very artistic 3D shapes with SOFA!
I think the problem comes to the scale of the forces applied by the Geomagic, because your scene works perfectly on my laptop.

Could you check this ?
Best

Hugo

[Hugo]

Hi

The TetrahedronDiscreteIntersection is not actually used in SOFA (written back in 2011 and never actually used). Could you replace it by one of those given here, and let us know if it works.

I created an issue to remove it.

Best wishes,

Hugo

[Hugo]

Hi @majanao

I am really sorry for the latency, we are busy to get more and more workforce on SOFA! We will now be more active on the forum.

Unfortunately no direct way in the forum interface to upload meshes.
You can share using any online tool, or if you prefer not to spread it send it to me using the contact email of the SOFA consortium.

People in the community usually work with GMesh (even with its python interface now) or with CGAL. It should be able to work, CGAL propose such region meshing to which you can then define parameters in SOFA (depending on the Forcefield you are using).

I hope this helps.
Best,

Hugo

[Hugo]

Hi @bill757 @fedev

Interesting point.
Two possible solutions, but at my best knowledge none have been yet implemented:
– creating a dedicated Event captured by Python when a contact really occurs (saved after the Narrow phase)
– calling a specific C++ function when a contact really occurs and binding this function in Python

@bmarques does such a question ring a bell?

Hugo

[Hugo]

Hi @antonio-8196

Welcome on the forum!
I am really sorry for the latency, we are busy to get more and more workforce on SOFA! We will now be more active on the forum.

Could you restart the entire compilation process, i.e. delete your build repo.
Create a new one, configure with CMake following the doc. And could you tell us:
– if you specify any specific option/compiler options
– the output of this CMake step

Best

Hugo

[Hugo]

Hi @jlorenze

I am really sorry for the latency, we are busy to get more and more workforce on SOFA! We will now be more active on the forum.

I guess your scene is solving the constraints using the Lagrange multipliers method (i.e. with a FreeMotionAnimationLoop). Is this correct?
If so, the behavior is not surprising: as you can see from the constraint problem equation, it all depends on the time step dt. The constraint correction will usually precompute a W matrix depending on the initial time step. Changing it will therefore break the resolution.

Could you tell us which constraint resolution are you using?
Could you also tell us why you need to change the time step?

Best

Hugo

[Hugo]

Hi @jlorenze

1. With a constraint resolution using the Lagrange multiplier method, f corresponds to ForceFields (including the gravity). It means any internal or external forces. Constraints would be in the H^T lambda part.

2. It comes from the fact that using Rayleigh damping assumes that df/dv (the damping matrix, here noted A) equals:

(your question made me notice a typo in the doc, thx!)

3. this was the typo error. You can also see the full Taylor expansion here.

4. It’s 1.0 because we want to be able to take into account physical damping (B, i.e. 1.0*B ). We actually compute here: b = f0 + 1.0*B*v + h*K*v
Then only, the line b.teq(h*tr); multiplies the entire term with h.

Do not hesitate to point out any other inconsistency in the doc. You can even make PR to make proposal of evolution in the markdown files.
I hope this helps.
Best

Hugo

[Hugo]

Hi @jake,

Here is a clip of your mesh without letting “free” tetra (manifold mesh):
https://drive.google.com/file/d/1Da_bu4OEqgsNV4zylyZqZydRgl0LAJkw/view?usp=sharing

Let me know how this work.
If you face any issue, could you please reshare a simplified version of your scene ?

Best

Hugo

[Hugo]

Hi @mallow

You are not showing which AnimationLoop you are using but I guess it is the FreeMotionAnimationLoop, is this correct?
A topic recently described how to extract the forces in such a Lagrange-multiplier-based approach.

I hope this helps.
Best wishes,

Hugo

[Hugo]

Dear @jlorenze,

Thank you for posting on the forum!
Have you get by any chance any further information about the crash (location, pointer)?
Are you sure that the input given to the cvxpy solver is the exactly the same in both cases ?

Best wishes,

Hugo

[Hugo]

Hi all,

For your information, another training session is available next week on 17th September 2020. Do not hesitate to take a look and join.

Best,

Hugo

[Hugo]

Hi @mingxuecai

Sorry for the delay of my reply.
Let me first ask some other questions: what version of Python do you have installed on your machine? what version of the SofaPython plugin are you using?

Are the command ./runSofa cablegripper.pyscn and the simulation running fine?

1. importing SOFA into a python environment is only possible with the SofaPython3 plugin
2. In your first command, it seems to be well loaded
([PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSoftRobots.so)
3. tutorials of the SoftRobot plugin are available in the repository docs/tutorials/
Regarding the Modeler it is deprecated since 2018.

Best wishes,

Hugo

[Hugo]

Hi Andrés

I deeply apologize for the delay of my reply.
I actually already came once on your post, but the behavior is so strange and I could not explain it. I need to take a bit more time to investigate it.

I poke @krewcunc who has experience with plastic codes in SOFA now 😉
I will also give another look to your point.

Best wishes,

Hugo

[Author]

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