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refactore: split diamond exemple into 2 scene:
- one with prefab, which does not currently work for the reduction - one without that work -> diamondRobot.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| # -*- coding: utf-8 -*- | ||
| import sys | ||
| import os | ||
|
|
||
| # STLIB IMPORT | ||
| from stlib3.scene import MainHeader | ||
| from stlib3.physics.constraints import FixedBox | ||
| from stlib3.physics.deformable import ElasticMaterialObject | ||
|
|
||
| # SOFTROBOTS IMPORT | ||
| from softrobots.actuators import PullingCable | ||
|
|
||
| actuatorsParam = [ | ||
| {'withName' : 'nord', | ||
| 'withCableGeometry' : [[0, 97, 45]], | ||
| 'withAPullPointLocation' : [0, 10, 30] | ||
| }, | ||
| {'withName' : 'ouest', | ||
| 'withCableGeometry' : [[-97, 0, 45]], | ||
| 'withAPullPointLocation' : [-10, 0, 30] | ||
| }, | ||
| {'withName' : 'sud', | ||
| 'withCableGeometry' : [[0, -97, 45]], | ||
| 'withAPullPointLocation' : [0, -10, 30] | ||
| }, | ||
| {'withName' : 'est', | ||
| 'withCableGeometry' : [[97, 0, 45]], | ||
| 'withAPullPointLocation' : [10, 0, 30] | ||
| } | ||
| ] | ||
|
|
||
| plugins=["SofaPython3","SoftRobots","ModelOrderReduction","STLIB", | ||
| # normally plugin Sofa.Component is enough but still warning | ||
| "Sofa.Component.Visual", | ||
| "Sofa.Component.AnimationLoop", | ||
| "Sofa.GL.Component.Rendering3D", | ||
| "Sofa.Component.Constraint.Lagrangian.Solver", | ||
| 'Sofa.Component.IO.Mesh', | ||
| 'Sofa.Component.Playback', | ||
| 'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection] | ||
| 'Sofa.Component.Engine.Select', # Needed to use components [BoxROI] | ||
| 'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver] | ||
| 'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping] | ||
| 'Sofa.Component.Mass', # Needed to use components [UniformMass] | ||
| 'Sofa.Component.ODESolver.Backward', # Needed to use components [EulerImplicitSolver] | ||
| 'Sofa.Component.SolidMechanics.FEM.Elastic', # Needed to use components [TetrahedronFEMForceField] | ||
| 'Sofa.Component.SolidMechanics.Spring', # Needed to use components [RestShapeSpringsForceField] | ||
| 'Sofa.Component.StateContainer', # Needed to use components [MechanicalObject] | ||
| 'Sofa.Component.Topology.Container.Dynamic'] # Needed to use components [TetrahedronSetTopologyContainer] | ||
|
|
||
| meshPath = os.path.dirname(os.path.abspath(__file__))+'/mesh/' | ||
|
|
||
| def createScene(rootNode): | ||
|
|
||
| MainHeader(rootNode,plugins=plugins, | ||
| dt=1.0, | ||
| gravity=[0.0, 0.0, -9810.0]) | ||
|
|
||
| # not in Mainheader anymore, need some update | ||
| rootNode.addObject('FreeMotionAnimationLoop') | ||
| rootNode.addObject('GenericConstraintSolver', tolerance="1e-6", maxIterations="1000") | ||
| rootNode.VisualStyle.displayFlags = 'showVisualModels showForceFields' | ||
| # ------------------------------------------- | ||
|
|
||
| modelNode = ElasticMaterialObject( | ||
| parent=rootNode, | ||
| volumeMeshFileName=meshPath+'siliconeV0.vtu', | ||
| name='modelNode', | ||
| rotation=[90, 0.0, 0.0], | ||
| translation=[0.0, 0.0, 35], | ||
| totalMass=0.5, | ||
| withConstrain=False, | ||
| surfaceMeshFileName=meshPath+'surface.stl', | ||
| surfaceColor=[0.7, 0.7, 0.7, 0.7], | ||
| poissonRatio=0.45, | ||
| youngModulus=450) | ||
|
|
||
| FixedBox( | ||
| atPositions=[-15, -15, -40, 15, 15, 10], | ||
| applyTo=modelNode, | ||
| doVisualization=True) | ||
|
|
||
| for i in range(len(actuatorsParam)): | ||
| PullingCable( | ||
| attachedTo=modelNode, | ||
| name=actuatorsParam[i]['withName'], | ||
| cableGeometry=actuatorsParam[i]['withCableGeometry'], | ||
| pullPointLocation=actuatorsParam[i]['withAPullPointLocation'], | ||
| valueType="displacement") | ||
|
|
||
| return rootNode |