def createScene(rootNode):
from stlib.scene import MainHeader
from stlib.physics.rigid import Floor
MainHeader(rootNode,
plugins=["SofaPython"],
dt=1.,
gravity=[0., -9810., 0.])
rootNode.VisualStyle.displayFlags = "showVisual showBehavior"
floor = Floor(rootNode,
name="Plane",
color=[1., 0., 1.],
isAStaticObject=True,
uniformScale=10)
addOrientedBoxRoi(floor,
name="MyBoxRoi",
position=[[50, 0, 0], [15, 15, 0], [60, 70, 25]],
scale=[100, 100, 100])
myOrientedBox = getOrientedBoxFromTransform(translation=[400, 100, 100],
eulerRotation=[0, 65, 0],
scale=[400, 400, 800])
floor.createObject("BoxROI", orientedBox=myOrientedBox, drawBoxes=True)
def createScene(rootNode):
MainHeader(rootNode, gravity=[0.0, -981.0, 0.0])
ContactHeader(rootNode, alarmDistance=8, contactDistance=5)
ShowGrid(rootNode)
Floor(rootNode,
translation=[0.0, -160.0, 0.0],
uniformScale=5.0,
isAStaticObject=True)
Floor(rootNode,
name="FloorObstacle",
translation=[0.0, -80.0, 0.0],
color=[0.0, 1.0, 0.0],
uniformScale=0.8,
isAStaticObject=True)
for c in range(7):
Cube(rootNode,
name="Cube" + str(-210 + c * 70),
translation=[-210 + c * 70, 0.0, 0.0],
color=[c / 10.0, c * 0.7 / 10.0, 0.9],
uniformScale=20.0)
return rootNode
def createScene(rootNode):
from stlib.scene import MainHeader
from stlib.scene import ContactHeader
from stlib.physics.rigid import Floor
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots');
rootNode.createObject('RequiredPlugin', pluginName='ModelOrderReduction');
rootNode.createObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe');
rootNode.findData('dt').value= 0.01;
rootNode.findData('gravity').value= [0, -9810, 0]
rootNode.createObject('FreeMotionAnimationLoop');
rootNode.createObject('LCPConstraintSolver', mu=str(1), tolerance="1.0e-15", maxIt="10000");
rootNode.createObject('CollisionPipeline', verbose="0");
rootNode.createObject('BruteForceDetection', name="N2");
rootNode.createObject('CollisionResponse', response="FrictionContact");
rootNode.createObject('LocalMinDistance', name="Proximity", alarmDistance=10, contactDistance=1.5);
Floor(rootNode,
name = "Plane",
translation=[0,-30 ,0],
color = [1.0, 0.0, 1.0],
isAStaticObject = True,
uniformScale = 10)
# With reduce legs
SofiaSixLegs(attachedTo=rootNode,
name='sofia_reduced',
reduced=True,
rotation=[0,0,0],
translation=[-200, 0, -400])
def createScene(rootNode):
MainHeader(rootNode,
plugins=["SofaPython", "SoftRobots", "ModelOrderReduction"],
dt=0.01,
gravity=[0, -9810, 0],
displayFlags='showVisualModels')
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('LCPConstraintSolver',
mu=str(1),
tolerance="1.0e-15",
maxIt="10000")
rootNode.createObject('CollisionPipeline', verbose="0")
rootNode.createObject('BruteForceDetection', name="N2")
rootNode.createObject('CollisionResponse', response="FrictionContact")
rootNode.createObject('LocalMinDistance',
name="Proximity",
alarmDistance=10,
contactDistance=1.5)
rootNode.createObject('SparseLDLSolver', name='preconditioner')
Floor(rootNode,
name="Plane",
translation=[0, -30, 0],
color=[1.0, 0.0, 1.0],
isAStaticObject=True,
uniformScale=10)
# With reduce legs
SofiaSixLegs(attachedTo=rootNode,
name='sofia_reduced',
reduced=True,
rotation=[0, 0, 0],
translation=[-200, 0, -400])
def createScene(rootNode):
"""Setting up a simple scene"""
MainHeader(rootNode, gravity=[0.0, -981.0, 0.0])
ContactHeader(rootNode, alarmDistance=5, contactDistance=1)
Cube(rootNode, translation=[0.0, 60.0, 10.0], uniformScale=2.0)
Floor(rootNode, translation=[0.0, -160.0, 0.0], isAStaticObject=True)
Prostate = ElasticMaterialObject(
rootNode,
name="Prostate",
volumeMeshFileName="/Users/pedro/Downloads/mac/Data/Prosta_2_2.msh",
surfaceMeshFileName="/Users/pedro/Downloads/mac/Data/Prosta_2_2.stl",
collisionMesh="/Users/pedro/Downloads/mac/Data/Prosta_2_2.stl",
withConstrain=True,
surfaceColor=[0.0, 0.70, 1.0],
scale=[0.9, 0.9, 0.9],
poissonRatio=0.49,
youngModulus=500,
translation=[10.0, 0.0, 0.0])
# Bulbo = ElasticMaterialObject(rootNode, name="Bulbo",
# volumeMeshFileName="/Users/pedro/Downloads/mac/Data/Prosta_16_16.msh",
# surfaceMeshFileName="/Users/pedro/Downloads/mac/Data/Prosta_16_16.stl",
# collisionMesh = "/Users/pedro/Downloads/mac/Data/Prosta_16_16.stl",
# withConstrain=True,
# surfaceColor=[0.2, 0.9, 0.0],
# scale=[0.9, 0.9, 0.9],
# poissonRatio=0.49,
# youngModulus=90000,
# translation=[0.0,60.0,35.0])
fixingBox = [0.0, 0.0, 0.0]
BoxROICoordinates = [-5, 0, -5, 5, 1, 5]
FixedBox(Prostate,
atPositions=[-10.0, -1.0, -20.0, 60.0, 60.0, 5.0],
doVisualization=True)
# scene = Scene(rootNode, gravity=[0.0, -981.0, 0.0])
# scene.dt = 0.025
# scene.VisualStyle.displayFlags = "showBehavior"
#
# scene.Config.createObject("MeshSTLLoader", name="loader", filename="/Users/pedro/Downloads/mac/SOFA_v19.06.99_custom_MacOS_v11/plugins/SoftRobots/docs/tutorials/Tripod/details/data/mesh/blueprint.stl")
# scene.Config.createObject("OglModel", src="@loader")
# body = ElasticBody(scene.Modelling)
# fix = FixingBox(scene.Modelling,
# body.ElasticMaterialObject,
# eulerRotation=[0,0,0],
# translation=[0.0, .0, 0.0],
# scale=[30., 30., 30.])
#
# # Changing the property of the Box ROI so that the constraint area appears on screen.
# fix.BoxROI.drawBoxes = True
#
return rootNode
def createScene(rootNode):
MainHeader(rootNode,
plugins=['SofaPython', 'SoftRobots', 'SofaOpenglVisual'],
gravity=[0.0, -9810, 0.0])
ContactHeader(rootNode,
alarmDistance=5,
contactDistance=1,
frictionCoef=0.7)
GripperController(rootNode)
Floor(rootNode, **floorParam)
Cube(rootNode, **cubeParam)
# Put treshold in rigibObject construction param ?
rootNode.Cube.Solver.threshold = 1e-6
for i in range(len(fingersParameters)):
finger = ElasticMaterialObject(
attachedTo=rootNode,
volumeMeshFileName=fingersVolumeMesh,
name=fingersParameters[i]['name'],
rotation=fingersParameters[i]['rotation'],
translation=fingersParameters[i]['translation'],
surfaceMeshFileName=fingersSurfaceAndCollisionMesh,
collisionMesh=fingersSurfaceAndCollisionMesh,
withConstrain=True,
surfaceColor=fingersColor,
poissonRatio=poissonRatioFingers,
youngModulus=youngModulusFingers,
totalMass=fingersMass)
finger.integration.rayleighStiffness = 0.1
finger.integration.rayleighMass = 0.1
finger.createObject('BoxROI',
name='boxROI',
box=fingersParameters[i]['ROIBox'],
drawBoxes=True,
doUpdate=False)
finger.createObject('RestShapeSpringsForceField',
points='@../finger1/boxROI.indices',
stiffness=1e12,
angularStiffness=1e12)
PneumaticCavity(surfaceMeshFileName=fingersCavitySurfaceMesh,
attachedAsAChildOf=finger,
name='cavity',
rotation=fingersParameters[i]['rotation'],
translation=fingersParameters[i]['translation'],
initialValue=cavitiesInitialValue,
valueType='pressure')
def createScene(rootNode):
"""This is my first scene"""
MainHeader(rootNode, gravity=[0.0, -981.0, 0.0])
ContactHeader(rootNode, alarmDistance=15, contactDistance=10)
#ShowGrid(rootNode)
Floor(rootNode, translation=[0.0, -160.0, 0.0], isAStaticObject=True)
Cube(rootNode, translation=[0.0, 0.0, 0.0], uniformScale=20.0)
return rootNode
def createScene(rootNode):
"""Setting up a simple scene"""
MainHeader(rootNode, gravity=[0.0, -981.0, 0.0])
ContactHeader(rootNode, alarmDistance=15, contactDistance=5)
Cube(rootNode,
translation=[0.0, 60.0, 10.0],
rotation=[0.0, 60.0, 10.0],
uniformScale=20.0)
Floor(rootNode, translation=[0.0, -160.0, 0.0], isAStaticObject=True)
return rootNode
def createScene(rootNode):
from stlib.scene import MainHeader
from stlib.physics.rigid import Floor
MainHeader(rootNode,
plugins=["SofaPython", "SoftRobots", "ModelOrderReduction"],
dt=1,
gravity=[0.0, -9810, 0.0])
floor = Floor(rootNode,
name="Plane",
color=[1.0, 0.0, 1.0],
isAStaticObject=True,
uniformScale=10)
addOrientedBoxRoi(floor,
name="MyBoxRoi",
position=[[50, 0, 0], [15, 15, 0], [60, 70, 25]],
scale=[100, 100, 100])
myOrientedBox = getOrientedBoxFromTransform(translation=[400, 100, 100],
eulerRotation=[0, 65, 0],
scale=[400, 400, 800])
floor.createObject("BoxROI", orientedBox=myOrientedBox, drawBoxes=True)
def createScene(rootNode):
"""Setting up a simple scene"""
MainHeader(rootNode, gravity = [0.0, -981.0, 0.0])
ContactHeader(rootNode, alarmDistance = 5, contactDistance = 1)
#cube(rootNode, translation = [10.1,60.0,10.0], uniformScale = 1.0)
Floor(rootNode, translation = [0.0,-160.0,0.0], isAStaticObject = True)
Prostate = ElasticMaterialObject(rootNode, name="Prostate",
volumeMeshFileName="/Users/pedro/Downloads/mac/Data/Prosta_2_2.msh",
surfaceMeshFileName="/Users/pedro/Downloads/mac/Data/Prosta_2_2.stl",
collisionMesh = "/Users/pedro/Downloads/mac/Data/Prosta_2_2.stl",
withConstrain=True,
surfaceColor=[0.0, 0.70, 1.0],
scale=[0.9, 0.9, 0.9],
poissonRatio=0.49,
youngModulus=500,
translation=[10.0,0.0,0.0])
Bulbo = ElasticMaterialObject(rootNode, name="Bulbo",
volumeMeshFileName="/Users/pedro/Downloads/mac/Data/needle_s.msh",
surfaceMeshFileName="/Users/pedro/Downloads/mac/Data/needle_s.stl",
collisionMesh = "/Users/pedro/Downloads/mac/Data/needle_s.stl",
withConstrain=True,
surfaceColor=[0.2, 0.9, 0.0],
scale=[0.9, 0.9, 0.9],
poissonRatio=0.33,
youngModulus=100000,
translation=[0.0,160.0,60.0],
rotation=[90.0,0.0,0.0])
fixingBox=[0.0,0.0,0.0]
BoxROICoordinates=[-5, 0, -5, 5, 1, 5]
FixedBox(Prostate, atPositions=[-10.0,-1.0,-20.0,60.0,60.0,5.0], doVisualization=True)
# fixingBox=[0.0,0.0,0.0]
# BoxROICoordinates=[-5, 0, -5, 5, 1, 5]
# PartiallyFixedBox(attachedTo=Bulbo, fixedAxis=[1, 0,1], box=[-10.0,140.0,-20.0,10.0,170.0,25.0], drawBoxes = True )
return rootNode
def createScene(rootNode):
surfaceMeshFileNameDiamond = 'surface.stl'
surfaceMeshFileNameStrafish = 'quadriped_collision.stl'
surfaceMeshFileNameSofia = 'sofia_leg.stl'
MainHeader(rootNode,
plugins=["SofaPython", "SoftRobots", "ModelOrderReduction"],
dt=1,
gravity=[0.0, -9810, 0.0])
ContactHeader(rootNode,
alarmDistance=5,
contactDistance=1,
frictionCoef=0.7)
Floor(rootNode,
name="Plane",
color=[1.0, 0.0, 1.0],
isAStaticObject=True,
uniformScale=10)
Reduced_diamond(rootNode,
name="Reduced_diamond_white",
rotation=[-90, 0.0, 0.0],
translation=[0, 50.0, 0.0],
surfaceColor=[0.5, 0.5, 0.5, 0.5],
surfaceMeshFileName=surfaceMeshFileNameDiamond)
Reduced_starfish(rootNode,
name="Reduced_starfish_red",
rotation=[0, 90.0, 120.0],
translation=[300, 400.0, 100.0],
surfaceColor=[1, 0.0, 0.0, 0.5],
surfaceMeshFileName=surfaceMeshFileNameStrafish)
Reduced_SofiaLeg(rootNode,
name="Reduced_sofiaLeg_blue",
rotation=[0, 0.0, 0.0],
translation=[-400, 60.0, 100.0],
surfaceColor=[0.0, 0.0, 1, 0.5],
surfaceMeshFileName=surfaceMeshFileNameSofia)
def createScene(rootNode):
"""This is my first scene"""
MainHeader(rootNode, gravity=[0.0, -981.0, 0.0], plugins=["SoftRobots"])
ContactHeader(rootNode,
alarmDistance=4,
contactDistance=3,
frictionCoef=0.08)
Gripper(rootNode)
Floor(rootNode,
color=[1.0, 0.0, 0.0],
translation=[0.0, -160.0, 0.0],
isAStaticObject=True)
Cube(rootNode,
uniformScale=20.0,
color=[1.0, 1.0, 0.0],
totalMass=0.03,
volume=20,
inertiaMatrix=[1000.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 1000.0],
translation=[0.0, -130.0, 10.0])
return rootNode
def createScene(rootNode):
"""
Following the Defrost team of the INRIA Lille Nord Europe's tutorial.
"""
MainHeader(rootNode, gravity=[0.0, -981.0, 0.0])
# Collision Handling Built-in Function
ContactHeader(rootNode, alarmDistance=10,
contactDistance=5)
cube = rootNode.createChild("Cube")
# Mechanical Model
totalMass = 5.0
volume = 5.0
inertiaMatrix = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
# DOF Mechanical Object
cube.createObject('MechanicalObject', name="DOF",
template="Rigid", translation=[0.0, 0.0, 0.0],
rotation = [0.0, 0.0, 0.0])
# Uniform Mass Object
cube.createObject('UniformMass', name="Mass",
mass=[totalMass, volume, inertiaMatrix[:]])
# Time Integration Scheme
cube.createObject('EulerImplicit', name="Odesolver")
# Solving Method
cube.createObject('CGLinearSolver', name="Solver")
# Visual Object of Cube
visual = cube.createChild("Cube Visual")
# Visual Ogl Model
visual.createObject('OglModel', name="Visual",
fileMesh="mesh/smCube27.ob",
colour=[0.1,0.1,1.0],
scale=25.0)
# Rigid Mapping Object
visual.createObject('RigidMapping')
# Collision Model for the Cube
collision = cube.createChild("Cube Collision Model")
# Creating Collision Objects
collision.createObject('MeshObjLoader', name="Loader",
filename="mesh/smCube27.obj",
triangulate="true", scale=20.0)
# Collision Objects: Mesh, Mechanical Object, Triangle, Line, Point, Rigid Mapping
collision.createObject('Mesh', src="@loader")
collision.createObject('MechanicalObject')
collision.createObject('Triangle')
collision.createObject('Line')
collision.createObject('Point')
collision.createObject('RigidMapping')
# Floor in the Scene
floor = Floor(rootNode, name="Floor",
translation=[0.0, -3200.0, 0.0],
uniformScale=7.0,
isAStaticObject=True)
return rootNode
def createScene(rootNode):
from stlib.scene import MainHeader, ContactHeader
#from stlib.physics.deformable import ElasticMaterialObject
MainHeader(rootNode, plugins=["CosseratPlugin"], gravity=[0., 0., 0.])
# rootNode.createObject(
# 'VisualStyle', displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields showWireframe')
rootNode.createObject(
'VisualStyle',
displayFlags='showVisualModels showInteractionForceFields')
# rootNode.createObject('FreeMotionAnimationLoop')
# rootNode.createObject('GenericConstraintSolver', tolerance="1e-20", maxIterations="5000", printLog="0")
ContactHeader(rootNode,
alarmDistance=4,
contactDistance=3,
frictionCoef=0.08)
rootNode.gravity = "0 -981 0"
rootNode.createObject('BackgroundSetting', color='0 0.168627 0.211765')
rootNode.createObject('OglSceneFrame',
style="Arrows",
alignment="TopRight")
cableNode = rootNode.createChild('cosseratNode')
cableNode.createObject('EulerImplicitSolver',
firstOrder="0",
rayleighStiffness="1.0",
rayleighMass='0.1')
cableNode.createObject('SparseLUSolver', name='solver')
cableNode.createObject('GenericConstraintCorrection')
cosFinger1 = CosseratFinger(
rootNode=rootNode,
cableNode=cableNode,
name="cosseratF1",
rotation=[0., 0, -120.],
translation=[-5., 70., 0.0],
)
#trans = cosFinger1.trans
cosFinger2 = CosseratFinger(rootNode=rootNode,
cableNode=cableNode,
name="cosseratF2",
rotation=[180., 0, -60.],
translation=[5., 70., 10.0])
cosFinger3 = CosseratFinger(rootNode=rootNode,
cableNode=cableNode,
name="cosseratF3",
rotation=[180., 0, -60.],
translation=[5., 70., -10.0])
GripperController(rootNode,
fingers=[cosFinger1, cosFinger2, cosFinger3],
angles=[[0., 0, -120.], [180., 0, -60.], [180., 0,
-60.]])
Floor(rootNode,
color=[1.0, 0.0, 0.0],
translation=[0.0, -25.0, 0.0],
rotation=[0.0, 0.0, 0.0],
isAStaticObject=True)
Cube(
rootNode,
uniformScale=20.0,
color=[1.0, 1.0, 0.0],
totalMass=0.03,
volume=20,
inertiaMatrix=[1000.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 1000.0],
rotation=[0.0, 0.0, 0.0],
translation=[0.0, 0.0, 0.0],
)
def createScene(rootNode):
#Its helpful to be able to see the grid
ShowGrid(rootNode)
#Adding the Soft-Robotics Plugin and the SofaPython plugin
rootNode.createObject('RequiredPlugin', name='soft', pluginName='SoftRobots')
rootNode.createObject('RequiredPlugin', name='SofaPython', pluginName='SofaPython')
rootNode.createObject('RequiredPlugin', name='SofaSparseSolver', pluginName='SofaSparseSolver')
#Gravity is automatically defined but we can redefine it
rootNode.findData('gravity').value='0 0 -981'
#It is nice to have the useful visualizatioin visible upon reloading the scene
#you can find the options in the view tab in the GUI
rootNode.createObject('VisualStyle', displayFlags='showForceFields showBehaviorModels')
#Add BackgroundSetting in order not to have to reset it to white everytime you reload
rootNode.createObject('BackgroundSetting', color='1 1 1')
#Add the axis in the upper right corner automatically
rootNode.createObject('OglSceneFrame', style="Arrows", alignment="TopRight")
#The standard Global Bounding Box is very small [-1,-1,-1,1,1,1]
#in comparison to our object so we make it bigger
rootNode.findData('bbox').value= '-200 -200 -200 200 200 200'
#Let's add the Child node for the Mesh
cube = rootNode.createChild('cube')
#Adding the Mesh file and make sure it finds it in the location directed to
cube.createObject('MeshVTKLoader', name='loader', filename= pa 'mesh_cube20.vtk')
#Now let's load the Mehs and make it a MechObj, which stores and is set to show the degrees of freedom of our box
cube.createObject('Mesh', src='@loader', name='container')
cube.createObject('MechanicalObject', name='tetras', template='Vec3d', showObject='true')
#Next we want to make the material soft so we add a forcefield
#We use TetrahedronFEMForceField in this case because of the nature of our mesh
#Here we also determine the Young's Modulus and Poisson's ratio for the material
#method is related to either small or large displacements
cube.createObject('TetrahedronFEMForceField', template='Vec3d', name='FEM', method='large', poissonRatio='0.49', youngModulus='200')
#Next we want to add the mass, since we want to uniformly distribute it we can either use
#vertexMass which is the mass at each node, stored in the MevhanicalObject
#or totalMass which is the total mass, which is then spread over the nodes.
#Beware these don't consider the geometry or topology of the system. More details, also on non-uniform masses:
#https://www.sofa-framework.org/community/doc/using-sofa/components/masses/uniformmass/
cube.createObject('UniformMass', totalMass='0.01')
#For initial try I will add a boundary condition for the bottom of the box
#This will fix the box in place if I set the stifness of the springs rather high
#As it creates springs between its initial and current position
#In this case I placed the box in the xy-plane going from 0-100 and up to 10 along the z-axis
#cube.createObject('BoxROI', name='boxROI', box='0 100 0 100 0 10', drawBoxes=True)
#cube.createObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness='1e12', angularStiffness='1e12')
#Now we add a time integration scene, allowing the system to be computed at each time step
#We will use the EulerImplicit solver where the forces are based off of
#the information of the next time step. Although being slower than the Explicit solver,
#they are more stable and are needed for stiff differential equations
cube.createObject('EulerImplicit', name='odesolver')
#And following that we add a Matrix solver, this one is a direct solver based off of A=LDL^T
#This one can be slow for very large systems but gives exact solutions
cube.createObject('SparseLDLSolver', name='directSolver')
#At this point it will deform a bit under gravity but not involve other dynamics
#Lets add the pneumatic actuators
#First let's create the cavity add the mesh and load it
cavity = cube.createChild('cavity')
cavity.createObject('MeshSTLLoader', name='loader', filename='mesh_cavity20.stl')
cavity.createObject('Mesh', src='@loader', name='topo')
#Now we must make the MechanicalObject of the surface mesh to store the degrees of freedom
#along the surface that will cause deformations
cavity.createObject('MechanicalObject', name='cavity')
#Now we will add a SurfacePressureConstraint
#This adds a constant pressure on a surface
#Such that each point of the mesh receives the pressure of the elements it is a part of
#You need to specify:
#are you using triangles or quads
#value
#valueIndex (default is {0})
#valueType; pressure or volumeGrowth
#For more info: https://project.inria.fr/softrobot/documentation/constraint/surface-pressure-constraint/
cavity.createObject('SurfacePressureConstraint', name='SurfacePressureConstraint',
template='Vec3d', value='0.0001', triangles='@topo.triangles', valueType='pressure')
#Now we need to use a BarycentricMapping to map the deformation of the cavity onto our 3d Mesh
cavity.createObject('BarycentricMapping', name='mapping')
#Now as a first test we will use the prewritten controller program which uses +/- to inflate and deflate
rootNode.createObject('PythonScriptController', filename='oscillationController.py', classname="controller")
#Now we will add an animationloop, the easiest is to add the FreeMotionAnimationLoop
rootNode.createObject('FreeMotionAnimationLoop')
#Furthermore we will add to solvers to take various constraints into account
rootNode.createObject('GenericConstraintSolver', maxIterations='10000', tolerance='1e-3')
cube.createObject('LinearSolverConstraintCorrection', solverName='directSolver')
#Let's add a visual model for the vube
visualCube = cube.createChild('visualCube')
visualCube.createObject('MeshSTLLoader', name='loader', filename='mesh_cube20.stl')
visualCube.createObject('OglModel', src='@loader', template='ExtVec3d', color='0.4 0.9 0.9')
visualCube.createObject('BarycentricMapping')
#In order to visualize and export the scene we can use the monitor component
#This is added to an indice of the component it is directly monitoring
#cube.createObject('Monitor', name="monitor-39", indices="178 228 278 303 253 203", template="Vec3d",
# showPositions=True, PositionsColor="1 0 1 1", ExportPositions=False,
# showVelocities=True, VelocitiesColor="0.5 0.5 1 1", ExportVelocities=False,
# showForces=True, ForcesColor="0.8 0.2 0.2 1", ExportForces=False,
# showTrajectories=False, TrajectoriesPrecision="0.1", TrajectoriesColor="0 1 1 1", sizeFactor="0.5")
#Now let's add a floor on which the cube will rest. We will use a rigid, preset floor from SOFA for the floor
#It is a preset with preset totalMass=1.0 and totalVolume=1.0. We will set it to be static.
#Furthermore it already includes its own collisionmodel.
#This includes the Mesh of the outer surface of the floor, A mapping between this mesh and that of the volume mesh of the floor
#and it tells all triangles, lines and points how to interact upon collision. (By not moving)
Floor(rootNode, translation=[0.0, 0.0, 0.0], rotation=[90.0, 0.0, 0.0], isAStaticObject=True, uniformScale=8.0)
#Now let's add the collisionmodel to the cube
collisionCube = cube.createChild("collisionCube")
#First we will load and store the surface mesh of the cube, and turn it into a mechanicalObject
#You could think about the translation of this object when wanting to add more cubes but for now it is not necessary
collisionCube.createObject('MeshSTLLoader', name='loader', filename='mesh_cube20.stl')
collisionCube.createObject('Mesh', src='@loader', name='topo')
collisionCube.createObject('MechanicalObject', name='collisMech')
#Now we add the behavior for the triangles, lines and points for the collision mesh
collisionCube.createObject('Triangle', selfCollision=False)
collisionCube.createObject('Line', selfCollision=False)
collisionCube.createObject('Point', selfCollision=False)
#Finally we add the mapping of this mesh to that of its parant node the cube
collisionCube.createObject('BarycentricMapping')
#We add the contactmodel and the corresponding friction coefficient
ContactHeader(rootNode, alarmDistance=5, contactDistance=1, frictionCoef=0.0)
def createScene(rootNode):
MainHeader(rootNode,
plugins=["SofaPython", "SoftRobots"],
gravity=[0.0, -9810, 0.0])
rootNode.getObject('GenericConstraintSolver').findData(
'maxIterations').value = '100000'
rootNode.getObject('GenericConstraintSolver').findData(
'tolerance').value = '1e-12'
ContactHeader(rootNode,
alarmDistance=5,
contactDistance=1,
frictionCoef=0.7)
GripperController(rootNode)
Floor(rootNode, **floorParam)
Cube(rootNode, **cubeParam)
# Put treshold in rigibObject construction param ?
rootNode.getChild('Cube').getObject('Solver').findData(
'threshold').value = '1e-6'
for i in range(len(fingersParameters)):
finger = ElasticMaterialObject(
attachedTo=rootNode,
volumeMeshFileName=fingersVolumeMesh,
name=fingersParameters[i]['name'],
rotation=fingersParameters[i]['rotation'],
translation=fingersParameters[i]['translation'],
surfaceMeshFileName=fingersSurfaceAndCollisionMesh,
collisionMesh=fingersSurfaceAndCollisionMesh,
withConstrain=True,
surfaceColor=fingersColor,
poissonRatio=poissonRatioFingers,
youngModulus=youngModulusFingers,
totalMass=fingersMass)
finger.getObject('EulerImplicit').findData(
'rayleighStiffness').value = 0.1
finger.getObject('EulerImplicit').findData('rayleighMass').value = 0.1
finger.createObject('BoxROI',
name='boxROI',
box=fingersParameters[i]['ROIBox'],
drawBoxes='true',
doUpdate='0')
finger.createObject('RestShapeSpringsForceField',
points='@../finger1/boxROI.indices',
stiffness='1e12',
angularStiffness='1e12')
SubTopology(attachedTo=finger,
topologiyContainer='container',
subTopologiyContainer=subTopoParameters[i]
['subTopologiyContainer'],
atPositions=subTopoParameters[i]['atPositions'],
poissonRatio=poissonRatioFingers,
youngModulus=youngModulusStiffLayerFingers -
youngModulusFingers)
PneumaticCavity(surfaceMeshFileName=fingersCavitySurfaceMesh,
attachedAsAChildOf=finger,
name='cavity',
rotation=fingersParameters[i]['rotation'],
translation=fingersParameters[i]['translation'],
initialValue=cavitiesInitialValue,
valueType='pressure')