Force Dimension Haptic Device Plugin

[hyang14]

Hi all. I saw a plugin developed for Force Dimension Haptic Device, but the GitHub page just has a bunch of source code and no description. Does anyone know where to look for relevant information for the code or how to use the plugin? Thanks!

[cranium-47]

You can use the SofaHAPI plugin with the Force Dimension haptic device

[hyang14]

thanks so much! I will take a look at it.

[cranium-47]

You may run into some errors while compiling the SofaHAPI plugin. If you do, let me know, and I'll be happy to try to help

[hyang14]

Hi Cranium. Sorry, this may sound like a dumb question, but do you know where I can download the code for SofaHAPI? I cannot find a link on the sofa website.

Also, while trying to install HAPI, the CMake configuration process was a bit weird. Before installing HAPI, I have the force dimension SDK zip file extracted on my system, and all the demo runs fine with the device. However, when I was configuring cmake for HAPI, this line popped up -- Could NOT find DHD (missing: DHD_INCLUDE_DIR DHD_LIBRARY DHD_pciscan_LIBRARY) Since force dimension device talks to HAPI with DHD-API, I am a bit concerned. Should I do something before CMake configuration?

Thanks so much.

[cranium-47]

Hi @HiroakiYo, feel free to ask me any questions. The SofaHAPI is already included in SOFA. I was able to find a video that shows its configuration with CMake: https://www.youtube.com/watch?v=q_TLeklpgs0&ab_channel=SimonNguyen. I haven't seen this video, but I think the steps are correct.

For the HAPI plugin, I'm using the H3D API from: https://h3d.org/, to configure it with the SofaHAPI plugin.
If you have any problems, let me know.

[cranium-47]

Hi Cranium. Sorry, this may sound like a dumb question, but do you know where I can download the code for SofaHAPI? I cannot find a link on the sofa website.

Also, while trying to install HAPI, the CMake configuration process was a bit weird. Before installing HAPI, I have the force dimension SDK zip file extracted on my system, and all the demo runs fine with the device. However, when I was configuring cmake for HAPI, this line popped up -- Could NOT find DHD (missing: DHD_INCLUDE_DIR DHD_LIBRARY DHD_pciscan_LIBRARY) Since force dimension device talks to HAPI with DHD-API, I am a bit concerned. Should I do something before CMake configuration?

Thanks so much.

Alternatively, you can find the installation instructions on this page, https://www.sofa-framework.org/community/doc/plugins/usual-plugins/hapi/

[hugtalbot]

For additional guidance, I will let the main developer of the ForceDimension plugin about your discussion guys 😉

[hugtalbot]

Hey @polyakovkrylo 👋

[hyang14]

Hi Vladimir. Thanks for writing the force dimension plugin. I am currently trying to connect an omega 7 to my sofa scene. However, I could not find a good direction about how to do this. Do you mind sharing a bit more about how to configure the plugin and how to connect the device to a soft python script?

[cranium-47]

Ohh @HiroakiYo, there's the force dimension plugin by @polyakovkrylo. I never tried it before but I'll be happy to try it soon and share my feedback! Thanks, @hugtalbot !

[polyakovkrylo]

Hi Leo, Thank you for reaching out! Could you tell me which version of SOFA you are using? Best regards, Vladimir

…

On Fri, 22 Jul 2022, 18:17 Leo Yang, ***@***.***> wrote: Hi Vladimir. Thanks for writing the force dimension plugin. I am currently trying to connect an omega 7 to my sofa scene. However, I could not find a good direction about how to do this. Do you mind sharing a bit more about how to configure the plugin and how to connect the device to a soft python script? — Reply to this email directly, view it on GitHub <#3132 (reply in thread)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AFSZVSPRBZHUQJKZAGGPHLDVVLCQBANCNFSM53TLEGPQ> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[hyang14]

I am running sofa v21.12.00 on my Linux virtual machine via VMware Workstation 16 Player. I know the virtual machine has some delay when communicating with omega 7. Does that matter?

[polyakovkrylo]

I have just realized you are using the repo that is slightly outdated. I moved the project some time ago on gitlab (https://gitlab.com/polyakovkrylo/forcedimensions). Could you check that one out? It contains a short instruction regarding the build process. Let me know if you need more input -- I can provide an example scene in python.

[hyang14]

Thanks so much for the link. I just took a quick look at it. The instruction looks like an in-tree build for the plugin. Since I already have SOFA installed on my end, is there a way to build the plugin out-of-tree, without having to rebuild SOFA again?

[polyakovkrylo]

Unfortunately, the project can only be built in-tree at the moment and I don't have the time to update it yet. Still, even if you have a build of SOFA, you can re-configure it, add the plugin and rebuild. That way, only the plugin will be compiled, which should not take much time.

[polyakovkrylo]

That should not matter as long as you're able to run the ForceDimensions SDK examples. I apologize the repo is a mess, the actual version of it is on the v20.12 branch. I have never tried to build it against v21.12, but in principle, it should not be a problem. Let me try it out and get back to you, OK? Best regards, Vladimir

…

On Fri, Jul 22 2022 at 12:10:36 PM -0700, Leo Yang ***@***.***> wrote: I am running sofa v21.12.00 on my Linux virtual machine via VMware Workstation 16 Player. I know the virtual machine has some delay when communicating with omega 7. Does that matter? — Reply to this email directly, view it on GitHub <#3132 (reply in thread)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AFSZVSPO3PDTDXAHHQTSMX3VVLW2ZANCNFSM53TLEGPQ>. You are receiving this because you were mentioned.Message ID: ***@***.***>

[hugtalbot]

any update @HiroakiYo @polyakovkrylo ?

[polyakovkrylo]

Hi @hugo! I am looking forward to hearing from @HiroakiYo :)

[hyang14]

Sorry for the delay. My program has ended, but if I have the chance to continue working on it this fall, I will provide more updates.

[polyakovkrylo]

@hugtalbot, could you also update the link on the marketplace? The project is on gitlab now (https://gitlab.com/polyakovkrylo/forcedimensions). Thanks in advance.

[hugtalbot]

done 👍 @polyakovkrylo

[xiaoyun199]

Hello @polyakovkrylo , could you write me a sample python scene to use with your force dimension plugin please?

[polyakovkrylo]

Hello @xiaoyun199 ! I added a sample xml scene to the repo, which should be a good point to start. Do not hesitate to contact me if you have problems translating that code to Python.