[Hugo]

Hi @liz49

Sorry for the delay of publication of your topic.
We cannot access your screenshots. I guess a question of Drive access.

Before interacting using the keyboard, did you click in the view of SOFA? It might solve your issue.

Best

Hugo

[Hugo]

Hi @golnaz

Do not hesitate to share some mesh and description of the expected robotic setup.
Best,

Hugo

[Hugo]

Hi @rayan

Do not hesitate to keep Pierre updated about your work 😉
Cheers

Hugo

[Hugo]

Hi @johnza @brunob81hk

I am passing the topic back to pending, since it was not visible in the list of open topics (that I am always using).

Which version of SOFA + SoftRobot are you both using?

How are you building the SoftRobot plugin? Separately from SOFA (out of tree)? Using the EXTERNAL_DIRECTORIES CMake variable? directly into SOFA (which is not recommanded)

Hugo

[Hugo]

Hi @sderick

I just would like to confirm my understanding: you would like to measure the time spent in your python script. Is that correct?
Which function(s) are of interest in your script?

Hugo

[Hugo]

Hi @n-herzig

This-is-weird!
A good sign that it compiles well in debug.
Could you restart from scratch the build of SOFA? Make to set the compilation flag to Release. It could indeed be linked to a problem of release/debug library (one used for the compilation, the other one at execution time, thus failing).

I am sorry that it takes so much time, Windows experts are currently busy with the v20.06 release. I’ll get them online if this second compilation attempt does not succeed. Best,

Hugo

[Hugo]

Hi @fleonard

Good to read.
I hope the documentation on the AnimationLoop helped.
As you might have noticed, the documentation on Collision has improved a bit.

For the FreeAnimationLoop and the Lagrange multipliers approach did you pay attention to the doc page?

Defining the numerical setting for collision detection is complex. You need to use a time step small enough to make sure that your objects won’t go through one another in between one time step. For this, the time step, the alarm and contact distance are key.

Let me know if above information are helping already.
Best,

Hugo

[Hugo]

Last week to register for the SOFA training session on June 30th! The schedule fits especially Asian timezones.

Welcoming newcomers? Allow them to start in the best conditions with SOFA!

All info: https://www.sofa-framework.org/sofa-events/sofa-training-sessions/

Hugo

[Hugo]

Hi @twxu

In such cases, the classical approach would consist in modeling both parts of your object as one. However, you could specify different stiffnesses in each region. Would that be realistic in your case?
Getting a stiffer layer thin enough, just depends on the mesh you are using, right?
For this softwares like CGAL allow to define zones that you can mesh accordingly. You can have a look here.

I agree with your interpretation of the crash at animation.
I hope this helps.

Hugo

[Hugo]

Hi @n-herzig

It’s weird, I would have expected an issue with two version of Qt, but it seems fine. Can you confirm that you have only one Qt version on your computer?
It looks like when running SOFA, Qt is found but the same version as the one used in the build phase.

Best

Hugo

[Hugo]

Hi @sderick

I am not familiar with this PythonAdvancedTimer.py
It does not seem to be able to be tuned for extraction of a specific part of the simulation. However, this can be achieved using the “Log Time” option in the Stats widget of runSofa (or the Display Advanced Timer).

are you using the GUI or running SOFA in batch?
Best,

Hugo

[Hugo]

Hi @qwe12050

I did not implement the class myself. You are perfectly right: it clearly appear that the only order available in the class TetrahedronHyperelasticityFEMForceField is the order 1 for Ogden. I am sorry about this. Changing the code could not be too difficult though.
Best,

Hugo

[Hugo]

Hi @alexftw

You are very welcome.
Yes it is possible to change the origin point: a data field is named startingPos and allows to define this point (x,y,z + quaternion).

Best

Hugo

[Hugo]

Hi @jake

1. I can perfectly load the mesh (I am using the master branch of SOFA)

3. yes take a look at the scene examples/Components/topology/SubsetTopologicalMapping.scn

Cheers,

Hugo

[Hugo]

Hi @n-herzig

Could you share with us your CMakeCache.txt ?

Hugo

[Hugo]

Hi @amir

Not necessarily. The TetrahedronHyperelasticityFEMForceField is available in the core of SOFA, not in a plugin, and contains the Ogden model.

Best,

Hugo

[Hugo]

Hi @jjcasmar

Yes the C++ code could have a pointer to any linear solver. But I think it makes more sense to use direct solvers since they really build the full A matrix. Iterative approaches in SOFA are unbuilt.

Before deprecating, we would need to compare both codes, namely to check whether both CG present similar performances (without precond). But it’s a good point.

Hugo

[Hugo]

Hi @n-herzig

did you give a try with the master source version?
Best,

Hugo

[Hugo]

Hi @jake

I had no trouble to load the cylinder0603.vtk
All I needed was to use the option createSubelements="1" in the MeshVTKLoader and defined the topology with:

<TetrahedronSetTopologyContainer name="topo" src="@VtkLoader" />
<TetrahedronSetTopologyModifier name="modif" />
<TetrahedronSetTopologyAlgorithms name="algo" />
<TetrahedronSetGeometryAlgorithms name="triGeo" drawTetrahedra="1" />

Which version of SOFA are you using?

You can take a look at the example: examples/Components/mapping/SubsetMapping.scn

Hugo

[Hugo]

Hi @golnaz

You would like to actuate your pivot? is that correct?
In the example of ArticulatedSystemMapping think what you are looking for is actually to access and change the value of the MechanicalObject “rest”. This is where the rest position of the actuator is defined.

Can you let us know if this fits?

Hugo

[Hugo]

I just shortly added a page on the documentation. Do not hesitate to review it 😉

https://www.sofa-framework.org/community/doc/components/linearsolver/preconditioned-cg/

Hugo

[Hugo]

Hi @uljad

Welcome on the SOFA forum! Always cool to couple physics simulation and 3D printing!

What you will need is to go from a stl mesh to a 3D volumetric mesh (made of tetra or hexa) in order to define on it a proper volumetric mechanical behavior and external forces.

It can be done in SOFA, you can have a look at the scene: examples/Components/misc/MeshTetraStuffing.scn

About starting with SOFA: you can see here a previous post.
I hope this helps.

Best

Hugo

[Hugo]

Hey @pvillard

@noura is right, there is no data allowing to access the stress (for now). It can therefore not be exported (VTK or other) as is. But the change proposed by Noura would be nice.

@noura have you already implemented it? It would be worth sharing in a PR.

Hugo

[Hugo]

Hi @n-herzig

Your version of Qt is fine.
Were you facing the same issue with a non-modified v19.12 source version ?
I will ask about your point next Wednesday (SOFA dev meeting).

Best,

Hugo

[Hugo]

Hi @jjcasmar

For the inheritance, I cannot answer myself since I am not one of the author.

Regarding the fact that it is hidden, I guess it also comes from the fact that no online documentation is available on this component. With the ShewchukPCGSolver, you need to specify the data “preconditioners” with a path towards a (direct) linear solver indeed.

This preconditioner can be refreshed every update_step.
Or it can be computed only once if build_precond is false.

Hugo

[Author]

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