Contact points detection

[camilla-agabiti]

Hi :)

I am working on whole-arm grasping, and I am using the trunk-like soft arm and a cube as the object to be grasped. My question is: which is the easiest way in SOFA to detect the positions of contact points (x,y,z coordinates) at a certain time?

Thank you so much!
Camilla

[EulalieCoevoet]

Hello Camilla,

I think your question is not really related to the plugin, right ? It's more a SOFA question, so would you mind asking it on this channel instead https://github.com/sofa-framework/sofa/discussions ? Maybe your answer is already there.

Eulalie