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Hey @younesssss,
Is there any way I can send you the scene directly? like email or some other form? and thank you for the help.
Hi @younesssss,
Sorry for the late reply, been very busy the past couple of days. I tried editing the Poisson ratio like you said but the difference isn’t huge, it is still not accurate with the force. I was wondering, would the collision mesh affect the force? I still haven’t added any for collisions of the arm with itself. Also for some reason when I change to SparseLUSolver the simulation doesn’t crash but just freezes with no error messages in the terminal so I have to force quit. Thank you for your ongoing help.
hi @younesssss,
I tried changing SparseLDLSolver to SparseLUSolver but my simulation just freezes when i click on animate. is there something I need to fix before when adding SparseLUSolver to make it work? all i did was switch SparseLDLSolver with SparseLUSolver. I don’t have much experience with SOFA so I am having a hard time trouble shooting the issue. If you would like me to send you the scene please let me know.
I was doing some testing and i get 21mm cable actuation when the simulation says the force is around 150-200. If this is newtons then this is obviously way off. The weird thing is even at this high force at 21mm actuation the arm is very similar to the real arm therefore displacement control is perfect but its just the force control that does not make sense right now
hi @younesssss,
Thank you for your response. for the Poisson Ratio I wasn’t really sure what to put, I wanted something that best fits spring steel. do you recommend going higher? I will try the SparseLUSolver and see if it is better that way.
@hugo That was calculated before I started working on this project for MATLAB simulation. I just used the same mechanical properties for SOFA.
@hugo not for CUDA but the one thing I found is some of the plugins like STLIB are outdated and use macros that are no longer used so I added them back manually and also for the soft robots plugin you need to turn SOFA_BUILD_METIS On but it does not show in the CMAKE GUI configure area so I also manually edited the src cmake file to turn it on. everything else went smoothly
Thank You for response @hugo I was able to get it working.
