[Hugo]

Hi @arsalan

Sorry about it. Indeed, it’s private, due to mesh data which can not be made open (which is often the reason why such scenes do not go open).
Which kind of surgery would you be interested in?

Best,

Hugo

[Hugo]

Hi guys,

How things are running on your end @xavierleorio?

Note that a team is developing a Cosserat plugin (line mechanical model following the Cosserat beam theory). This plugin handles needle modeling and should handle needle insertion. It could be worth looking at it.

Best wishes,

Hugo

[Hugo]

Hi @antonio-8196

1. To be able to detect keyboard interactions (like your Ctrl +), Qt (that we use to build the runSofa GUI) requires to first click in the view area (where the scene is displayed, e.g. where you can see your cylinder) and then use the keyboard interactions.

2. Using your code:

    finger = rootNode.addChild('finger')
    finger.addObject('MeshSTLLoader', name='loader', filename='../data/mesh/actuador.stl')
    finger.addObject('MeshTopology', src='@loader', name='container')
    finger.addObject('MechanicalObject', name='tetras', template='Vec3d', showObject=True, showObjectScale=True)

you are loading a STL file (NOTE : STL files are only surface meshes by definition). To visualize the topology you loaded, you define the data drawTriangles=True in the MeshTopology:

    finger.addObject('MeshTopology', src='@loader', name='container', drawTriangles=True)

3. Let’s first succeed the two previous tasks before looking into this point. Note that similar topics already tackled this question: here or here

Best wishes,

Hugo

[Hugo]

Hi @brunob81hk

If there is no hurry indeed, it’s easier. It should come within a week or two. Stay tuned 😉
Best,

Hugo

[Hugo]

Ciao @chiarasapo

Indeed it is not possible to use a physical spring between two objects which do not have the same degrees of freedom, which is quite logical. The simulation has no clue how to relate different DOFs.

How to solve this? All you need is to map a Vec3d object on your Rigid object (using a RigidMapping) and then define the spring between the two Vec3d MechanicalObjects.

Do you see my point?

Hugo

[Hugo]

Hi @brunob81hk

When an object goes through another one, the problem might rather be due to the collision detection and the associated numerical settings (contact/alarm distance, time step).

Regarding your last question: I do not think that increasing the stiffness of the spring should result in greater force. This spring is only here for haptic stability and making sure that your virtual haptic object follows (more or less closely depending on the stiffness) the real position of the haptic interface.

If you want to increase the force, you must change the compliance matrix computed by the ConstraintCorrection in your scene.

Let me know if it helps!
Best

Hugo

[Hugo]

Hi @brunob81hk

Usually we do not try to make back-compatibility since the SOFA GLFW plugin was created recently and therefore compatible with only recent versions of SOFA.

However, since the plugin is quite simple, it should not be too hard to make it work.
Could you try replacing:

find_package(Sofa.Config REQUIRED)

by

find_package(SofaFramework REQUIRED)

Best wishes,

Hugo

[Hugo]

Hi all !

It’s going to start in about 45min !
Do not hesitate to come and ask your questions.

–
The SOFA Consortium staff

[Hugo]

Anyone is most welcome to join!

[Hugo]

Hi @dinary

Are the errors you are referring to the same CMake errors about boost?
If so, did you set both variables BOOST_ROOT or Boost_DIR, as suggested on this forum?

Hugo

[Hugo]

Hi @juan

I am sorry I do not see where are the videos you are referring to.
Best wishes,

Hugo

[Hugo]

Hi @jducrocq007

Since your initial problem is solved I will close the issue.
If anyone else face & solve the issue you pointed out, we could discuss it later on here or in another forum topic.

Best wishes,

Hugo

PS: feel free to reopen it anytime !

[Hugo]

Hi @antonio-8196

Strange that the controller is not working. Did you click in the SOFA 3D view before pressing Ctrl + ?

Regarding your additional questions:
– STL format is supported in SOFA. You can design it in a dedicated software and then import it. If not, we would be curious to have the error.
– I am not sure to understand your question “How could I map the pressure applied to the cavity?“. Could you rephrase it for me?

Best wishes,

Hugo

[Hugo]

Hi @steph @toriwalnuss

I would like to inform you that we are currently working hard on improving the installation of SOFA/SoftRobots/STLIB and providing better step-by-step documentation. This should be ready for the next release (end of June : v21.06).

Sorry for the inconvenience, we know your time is precious, especially during internships!

Best wishes,

Hugo

[Hugo]

Dear @antonio-8196

Have you set all path as explained here : https://sofapython3.readthedocs.io/en/latest/menu/SofaPlugin.html#within-a-python3-interpreter ?

Then run SOFA, load SofaPython, SoftRobots, and then STLIB ?

I want also to inform you that we are currently working hard on improving the installation of SOFA/SoftRobots/STLIB and providing better step-by-step documentation. This should be ready for the next release (end of June : v21.06). Sorry for the inconvenience.

Best wishes,

Hugo

[Hugo]

Hi @jducrocq007

When you say that you installed SOFA v20.12 yourself : did you downloaded the binary version from the sofa-framework.org/download page?

Or did you compile SOFA v20.12 from sources?

What is your CMake version?

Best,

Hugo

PS: do not hesitate to join us on Wednesday for the SOFA dev meeting

[Hugo]

By the way have you taken a look at the example liver-scriptcontroller.py in the PR #146 ? It could help.

Hugo

[Hugo]

Hi @sergiopm23 @serkan-ergun

You are right more examples would be nice! Never hesitate to make such pull-requests it would be most appreciated by the dev community.

I will try to find some time to create new ones.

Best,

Hugo

[Hugo]

Hi @geofliu

You need to make sure to export the path as explained in the paragraph “Within a python3 interpreter” in the SofaPython3 doc.
It should solve your issue.
Best wishes,

Hugo

[Hugo]

Dear @arsalan

We do not have ready-to-use surgical scenarii. But I am sure we can find a good starting point for you. Which kind of surgery would you be interested in?

We did some years ago an example for visceral surgery here.

Best,

Hugo

[Hugo]

Hi

I get the following simulation when I run it (I do not have your Sphere.obj mesh):

Is this correct?
I note that I receive a warning about the OscillatorConstraint saying that:

[ERROR]   [OscillatorConstraint(OscillatingConstraint1)] applyConstraint(mparams, matrix) not implemented.

This means that the OscillatorConstraint can not properly work with direct solvers (like BTD) or the the applyConstraint() function should be implemented.

Is this blocking for you?

However, I was not able to reproduce the “mass falling” as you are referring to.
Best,

Hugo

[Hugo]

Hi @brunob81hk

it is strange that increasing the stiffness does not change the behavior here.
Could you try to remove the Rayleigh numerical damping (rayleighStiffness/rayleighMass set to 0 for the Instr) ?

Best

Hugo

[Hugo]

Let’s close this topic since this one is already open on the topic.

Hugo

[Hugo]

Hi @benmjackson

Are you confident in your physical parameters and their units?
Moreover, looking at the high stiffness value you are setting, you might need to use small time steps to ensure convergence of your system.

Best,

Hugo

[Hugo]

Any success @c4rs200, following @aryakarani advices?

I must say, these constraints being part of the SoftRobot plugin, I am not super familiar with it. But keep us udpated 😉

Hugo

[Author]

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