GeomagicEmulator
Driver allowing interfacing with Geomagic haptic devices.
Target: Geomagic
namespace: sofa::component::controller
parents:
- GeomagicDriver
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the objet belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| handleEventTriggersUpdate | Event handling frequency controls the controller update frequency | 0 |
| deviceName | Name of device Configuration | Default Device |
| positionBase | Position of the device base in the SOFA scene world coordinates | 0 0 0 |
| orientationBase | Orientation of the device base in the SOFA scene world coordinates | 0 0 0 1 |
| orientationTool | Orientation of the tool in the SOFA scene world coordinates | 0 0 0 1 |
| scale | Default scale applied to the Device coordinates | 1 |
| forceScale | Default scaling factor applied to the force feedback | 1 |
| maxInputForceFeedback | Maximum value of the normed input force feedback for device security | 1 |
| inputForceFeedback | Input force feedback in case of no LCPForceFeedback is found (manual setting) | 0 0 0 |
| manualStart | If true, will not automatically initDevice at component init phase. | 0 |
| emitButtonEvent | If true, will send event through the graph when button are pushed/released | 0 |
| positionDevice | position of the base of the part of the device | |
| angle | Angluar values of joint (rad) | |
| button1 | Button state 1 | |
| button2 | Button state 2 | |
| speedFactor | factor to increase/decrease the movements speed | 0.1 |
| Visualization | ||
| drawDeviceFrame | Visualize the frame corresponding to the device tooltip | 0 |
| drawDevice | Visualize the Geomagic device in the virtual scene | 0 |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |
| forceFeedBack | link to the forceFeedBack component, if not set will search through graph and take first one encountered. | ForceFeedback |
Examples
GeomagicEmulator-RigidCubes.scn
<?xml version="1.0" ?>
<Node name="root" dt="0.05" showBoundingTree="0" gravity="0 0 0">
<RequiredPlugin name="Geomagic"/> <!-- Needed to use components [GeomagicEmulator] -->
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [LocalMinDistance] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.Controller"/> <!-- Needed to use components [MechanicalStateController] -->
<RequiredPlugin name="Sofa.Component.Haptics"/> <!-- Needed to use components [LCPForceFeedback] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultVisualManagerLoop />
<CollisionPipeline name="pipeline" depth="6" verbose="0"/>
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="response" response="FrictionContactConstraint" />
<LocalMinDistance name="proximity" alarmDistance="0.15" contactDistance="0.05" angleCone="0.0" />
<FreeMotionAnimationLoop/>
<LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
<GeomagicEmulator name="GeomagicDevice" deviceName="Default Device" scale="1" positionBase="0 0 0" orientationBase="0 0.707 0 -0.707"
drawDevice="1" drawDeviceFrame="1" forceFeedBack="@Instrument/LCPFF1"/>
<Node name="CubeStatic1">
<MeshOBJLoader name="loaderC" filename="mesh/cube.obj" scale3d="4 6 1" translation="-2 -2 -8" />
<MechanicalObject name="Cube" position="@loaderC.position" />
<MeshTopology name="grid" src="@loaderC" />
<TriangleCollisionModel simulated="0" moving="0" bothSide="false" group="1"/>
<LineCollisionModel simulated="0" moving="0" group="1"/>
<PointCollisionModel simulated="0" moving="0" group="1"/>
<Node name="CubeVisu">
<OglModel name="CubeVisualModel"/>
<IdentityMapping input="@../" output="@CubeVisualModel" />
</Node>
</Node>
<Node name="CubeStatic2">
<MeshOBJLoader name="loaderC2" filename="mesh/cube.obj" scale3d="4 6 1" translation="-2 -2 8" />
<MechanicalObject position="@loaderC2.position"/>
<MeshTopology name="grid" src="@loaderC2" />
<TriangleCollisionModel bothSide="false"/>
<LineCollisionModel />
<PointCollisionModel />
<Node name="Cube2Visu">
<OglModel name="Cube2VisualModel"/>
<IdentityMapping input="@../" output="@Cube2VisualModel" />
</Node>
</Node>
<Node name="Floor">
<MeshOBJLoader name="loaderF" filename="mesh/cube.obj" scale3d="20 0.5 20" translation="0 -10 0"/>
<MeshTopology src="@loaderF" />
<MechanicalObject src="@loaderF" />
<TriangleCollisionModel simulated="0" moving="0" bothSide="false" group="1"/>
<LineCollisionModel simulated="0" moving="0" group="1" />
<PointCollisionModel simulated="0" moving="0" group="1"/>
<Node name="VisuFloor" >
<OglModel name="FloorVisualModel"/>
<IdentityMapping input="@../" output="@FloorVisualModel" />
</Node>
</Node>
<!-- ADDED: the Mechanical state Controller gathers events from the Omni driver and populates the Mechanical state -->
<Node name="Omni">
<MechanicalObject template="Rigid3" name="DOFs" position="@GeomagicDevice.positionDevice"/>
<MechanicalStateController template="Rigid3" listening="true" mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true"/>
</Node>
<Node name="Instrument" >
<EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
<CGLinearSolver name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-10" />
<MechanicalObject name="instrumentState" template="Rigid3" />
<UniformMass name="mass" totalMass="0.5" />
<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' points='0' external_points='0'/>
<LCPForceFeedback name="LCPFF1" activate="true" forceCoef="1.0"/>
<UncoupledConstraintCorrection/>
<Node name="VisuTool" >
<MeshOBJLoader name="meshLoader_1" filename="Demos/Dentistry/data/mesh/dental_instrument.obj" handleSeams="1" />
<OglModel name="InstrumentVisualModel" src="@meshLoader_1" color="1.0 0.2 0.2 1.0" ry="-180" rz="-90" dz="3.5" dx="-0.3"/>
<RigidMapping name="MM->VM mapping" input="@instrumentState" output="@InstrumentVisualModel" />
</Node>
<Node name="CollisionModel" >
<MeshOBJLoader filename="Demos/Dentistry/data/mesh/dental_instrument_centerline.obj" name="loader"/>
<MeshTopology src="@loader" name="InstrumentCollisionModel" />
<MechanicalObject src="@loader" name="instrumentCollisionState" ry="-180" rz="-90" dz="3.5" dx="-0.3" />
<LineCollisionModel contactStiffness="100"/>
<PointCollisionModel contactStiffness="100"/>
<RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.05", showBoundingTree="0", gravity="0 0 0")
root.addObject('RequiredPlugin', name="Geomagic")
root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
root.addObject('RequiredPlugin', name="Sofa.Component.Controller")
root.addObject('RequiredPlugin', name="Sofa.Component.Haptics")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('DefaultVisualManagerLoop', )
root.addObject('CollisionPipeline', name="pipeline", depth="6", verbose="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('CollisionResponse', name="response", response="FrictionContactConstraint")
root.addObject('LocalMinDistance', name="proximity", alarmDistance="0.15", contactDistance="0.05", angleCone="0.0")
root.addObject('FreeMotionAnimationLoop', )
root.addObject('LCPConstraintSolver', tolerance="0.001", maxIt="1000")
root.addObject('GeomagicEmulator', name="GeomagicDevice", deviceName="Default Device", scale="1", positionBase="0 0 0", orientationBase="0 0.707 0 -0.707", drawDevice="1", drawDeviceFrame="1", forceFeedBack="@Instrument/LCPFF1")
cube_static1 = root.addChild('CubeStatic1')
cube_static1.addObject('MeshOBJLoader', name="loaderC", filename="mesh/cube.obj", scale3d="4 6 1", translation="-2 -2 -8")
cube_static1.addObject('MechanicalObject', name="Cube", position="@loaderC.position")
cube_static1.addObject('MeshTopology', name="grid", src="@loaderC")
cube_static1.addObject('TriangleCollisionModel', simulated="0", moving="0", bothSide="false", group="1")
cube_static1.addObject('LineCollisionModel', simulated="0", moving="0", group="1")
cube_static1.addObject('PointCollisionModel', simulated="0", moving="0", group="1")
cube_visu = CubeStatic1.addChild('CubeVisu')
cube_visu.addObject('OglModel', name="CubeVisualModel")
cube_visu.addObject('IdentityMapping', input="@../", output="@CubeVisualModel")
cube_static2 = root.addChild('CubeStatic2')
cube_static2.addObject('MeshOBJLoader', name="loaderC2", filename="mesh/cube.obj", scale3d="4 6 1", translation="-2 -2 8")
cube_static2.addObject('MechanicalObject', position="@loaderC2.position")
cube_static2.addObject('MeshTopology', name="grid", src="@loaderC2")
cube_static2.addObject('TriangleCollisionModel', bothSide="false")
cube_static2.addObject('LineCollisionModel', )
cube_static2.addObject('PointCollisionModel', )
cube2_visu = CubeStatic2.addChild('Cube2Visu')
cube2_visu.addObject('OglModel', name="Cube2VisualModel")
cube2_visu.addObject('IdentityMapping', input="@../", output="@Cube2VisualModel")
floor = root.addChild('Floor')
floor.addObject('MeshOBJLoader', name="loaderF", filename="mesh/cube.obj", scale3d="20 0.5 20", translation="0 -10 0")
floor.addObject('MeshTopology', src="@loaderF")
floor.addObject('MechanicalObject', src="@loaderF")
floor.addObject('TriangleCollisionModel', simulated="0", moving="0", bothSide="false", group="1")
floor.addObject('LineCollisionModel', simulated="0", moving="0", group="1")
floor.addObject('PointCollisionModel', simulated="0", moving="0", group="1")
visu_floor = Floor.addChild('VisuFloor')
visu_floor.addObject('OglModel', name="FloorVisualModel")
visu_floor.addObject('IdentityMapping', input="@../", output="@FloorVisualModel")
omni = root.addChild('Omni')
omni.addObject('MechanicalObject', template="Rigid3", name="DOFs", position="@GeomagicDevice.positionDevice")
omni.addObject('MechanicalStateController', template="Rigid3", listening="true", mainDirection="-1.0 0.0 0.0", handleEventTriggersUpdate="true")
instrument = root.addChild('Instrument')
instrument.addObject('EulerImplicitSolver', name="ODE solver", rayleighStiffness="0.05", rayleighMass="1.0")
instrument.addObject('CGLinearSolver', name="linear solver", iterations="25", tolerance="1e-10", threshold="10e-10")
instrument.addObject('MechanicalObject', name="instrumentState", template="Rigid3")
instrument.addObject('UniformMass', name="mass", totalMass="0.5")
instrument.addObject('RestShapeSpringsForceField', stiffness="1000000", angularStiffness="1000000", external_rest_shape="@../Omni/DOFs", points="0", external_points="0")
instrument.addObject('LCPForceFeedback', name="LCPFF1", activate="true", forceCoef="1.0")
instrument.addObject('UncoupledConstraintCorrection', )
visu_tool = Instrument.addChild('VisuTool')
visu_tool.addObject('MeshOBJLoader', name="meshLoader_1", filename="Demos/Dentistry/data/mesh/dental_instrument.obj", handleSeams="1")
visu_tool.addObject('OglModel', name="InstrumentVisualModel", src="@meshLoader_1", color="1.0 0.2 0.2 1.0", ry="-180", rz="-90", dz="3.5", dx="-0.3")
visu_tool.addObject('RigidMapping', name="MM->VM mapping", input="@instrumentState", output="@InstrumentVisualModel")
collision_model = Instrument.addChild('CollisionModel')
collision_model.addObject('MeshOBJLoader', filename="Demos/Dentistry/data/mesh/dental_instrument_centerline.obj", name="loader")
collision_model.addObject('MeshTopology', src="@loader", name="InstrumentCollisionModel")
collision_model.addObject('MechanicalObject', src="@loader", name="instrumentCollisionState", ry="-180", rz="-90", dz="3.5", dx="-0.3")
collision_model.addObject('LineCollisionModel', contactStiffness="100")
collision_model.addObject('PointCollisionModel', contactStiffness="100")
collision_model.addObject('RigidMapping', name="MM->CM mapping", input="@instrumentState", output="@instrumentCollisionState")