def createScene(root):
##### global parameters
root.createObject(
'VisualStyle',
displayFlags="showBehavior showWireframe showCollisionModels")
root.dt = 0.01
root.gravity = [0, -10, 0]
root.createObject('RequiredPlugin', pluginName='Compliant')
root.createObject('CompliantAttachButtonSetting')
##### SOLVER
root.createObject('CompliantImplicitSolver',
stabilization=0,
neglecting_compliance_forces_in_geometric_stiffness=0)
root.createObject('SequentialSolver', iterations=100, precision=0)
#root.createObject('LUResponse')
root.createObject('LDLTResponse')
bodies = []
points = []
N = 10
for i in xrange(N):
body = StructuralAPI.RigidBody(root, "body_" + str(i))
body.setManually([i, 0, 0, 0, 0, 0, 1], 1, [1, 1, 1])
body.dofs.showObject = True
body.dofs.showObjectScale = .5
bodies.append(body)
bodies[0].node.createObject('FixedConstraint')
bodies[N - 1].mass.mass = 10
bodies[N - 1].mass.inertia = "10 10 10"
for i in xrange(N - 1):
p0 = bodies[i].addMappedPoint("right", [0.5, 0, 0])
p0.dofs.showObject = True
p0.dofs.showObjectScale = .1
p0.dofs.drawMode = 1
p1 = bodies[i + 1].addMappedPoint("left", [-0.5, 0, 0])
p1.dofs.showObject = True
p1.dofs.showObjectScale = .1
p1.dofs.drawMode = 2
d = p0.node.createChild("d" + str(i))
d.createObject('MechanicalObject',
template='Vec3' + StructuralAPI.template_suffix,
name='dofs',
position='0 0 0')
input = [] # @internal
input.append('@' + Tools.node_path_rel(root, p0.node) + '/dofs')
input.append('@' + Tools.node_path_rel(root, p1.node) + '/dofs')
d.createObject('DifferenceMultiMapping',
name='mapping',
input=Tools.cat(input),
output='@dofs',
pairs="0 0")
p1.node.addChild(d)
d.createObject('UniformCompliance', name='compliance', compliance="0")
def createScene(root):
##### global parameters
root.createObject('VisualStyle', displayFlags="showBehavior showWireframe showCollisionModels" )
root.dt = 0.01
root.gravity = [0, -10, 0]
root.createObject('RequiredPlugin', pluginName = 'Compliant')
root.createObject('CompliantAttachButtonSetting')
##### SOLVER
root.createObject('CompliantImplicitSolver', stabilization=0, neglecting_compliance_forces_in_geometric_stiffness=0)
root.createObject('SequentialSolver', iterations=100, precision=0)
#root.createObject('LUResponse')
root.createObject('LDLTResponse')
bodies = []
points = []
N = 10
for i in xrange(N):
body = StructuralAPI.RigidBody( root, "body_"+str(i) )
body.setManually( [i,0,0,0,0,0,1], 1, [1,1,1] )
body.dofs.showObject = True
body.dofs.showObjectScale = .5
bodies.append( body )
bodies[0].node.createObject('FixedConstraint')
bodies[N-1].mass.mass = 10
bodies[N-1].mass.inertia = "10 10 10"
for i in xrange(N-1):
p0 = bodies[i].addMappedPoint( "right", [0.5, 0, 0] )
p0.dofs.showObject = True
p0.dofs.showObjectScale = .1
p0.dofs.drawMode=1
p1 = bodies[i+1].addMappedPoint( "left", [-0.5, 0, 0] )
p1.dofs.showObject = True
p1.dofs.showObjectScale = .1
p1.dofs.drawMode=2
d = p0.node.createChild( "d"+str(i) )
d.createObject('MechanicalObject', template = 'Vec3'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
input = [] # @internal
input.append( '@' + Tools.node_path_rel(root,p0.node) + '/dofs' )
input.append( '@' + Tools.node_path_rel(root,p1.node) + '/dofs' )
d.createObject('DifferenceMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 0" )
p1.node.addChild( d )
d.createObject('UniformCompliance', name = 'compliance', compliance="0" )
def run():
ok = True
info = SofaPython.mass.RigidMassInfo()
# testing axis-aligned known geometric shapes
for m in xrange(len(meshes)):
mesh = meshes[m]
mesh_path = path + meshes[m]
for s in xrange(len(scales)):
scale = scales[s]
if mesh=="cylinder.obj" and scale[0]!=scale[1]:
continue
for d in xrange(len(densities)):
density=densities[d]
info.setFromMesh( mesh_path, density, scale )
error = " ("+meshes[m]+", s="+Tools.cat(scale)+" d="+str(density)+")"
ok &= EXPECT_TRUE( almostEqualReal(info.mass, masses[m][s][d]), "mass"+error+" "+str(info.mass)+"!="+str(masses[m][s][d]) )
ok &= EXPECT_TRUE( almostEqualLists(info.com,[x*0.5 for x in scale]), "com"+error+" "+Tools.cat(info.com)+"!="+Tools.cat([x*0.5 for x in scale]) )
ok &= EXPECT_TRUE( almostEqualLists(info.diagonal_inertia,inertia[m][s][d]), "inertia"+error+" "+str(info.diagonal_inertia)+"!="+str(inertia[m][s][d]) )
# testing diagonal inertia extraction from a rotated cuboid
mesh = "cube.obj"
mesh_path = path + mesh
scale = scales[3]
density = 1
theory = sorted(inertia[0][3][0])
for r in rotations:
info.setFromMesh( mesh_path, density, scale, r )
local = sorted(info.diagonal_inertia)
ok &= EXPECT_TRUE( almostEqualLists(local,theory), "inertia "+str(local)+"!="+str(theory)+" (rotation="+str(r)+")" )
# testing extracted inertia rotation
mesh = "rotated_cuboid_12_35_-27.obj"
mesh_path = path + mesh
density = 1
info.setFromMesh( mesh_path, density )
# theoretical results
scale = [2,3,1]
mass = density * scale[0]*scale[1]*scale[2]
inertiat = numpy.empty(3)
inertiat[0] = 1.0/12.0 * mass * (scale[1]*scale[1]+scale[2]*scale[2]) # x
inertiat[1] = 1.0/12.0 * mass * (scale[0]*scale[0]+scale[2]*scale[2]) # y
inertiat[2] = 1.0/12.0 * mass * (scale[0]*scale[0]+scale[1]*scale[1]) # z
# used quaternion in mesh
q = Quaternion.normalized( Quaternion.from_euler( [12*math.pi/180.0, 35*math.pi/180.0, -27*math.pi/180.0] ) )
# corresponding rotation matrices (ie frame defined by columns)
mt = Quaternion.to_matrix( q )
m = Quaternion.to_matrix( info.inertia_rotation )
# matching inertia
idxt = numpy.argsort(inertiat)
idx = numpy.argsort(info.diagonal_inertia)
# checking if each axis/column are parallel (same or opposite for unitary vectors)
for i in xrange(3):
ok &= EXPECT_TRUE( almostEqualLists(mt[:,idxt[i]].tolist(),m[:,idx[i]].tolist(),1e-5) or almostEqualLists(mt[:,idxt[i]].tolist(),(-m[:,idx[i]]).tolist(),1e-5), "wrong inertia rotation" )
# print mt[:,idxt]
# print m [:,idx ]
return ok
def createScene(root):
##### global parameters
root.createObject('VisualStyle', displayFlags="showBehavior showCollisionModels" )
root.dt = 0.01
root.gravity = [0, -10, 0]
root.createObject('RequiredPlugin', pluginName = 'Compliant')
root.createObject('CompliantAttachButton')
root.createObject('DefaultPipeline', name='DefaultCollisionPipeline', depth="6")
root.createObject('BruteForceBroadPhase', name='N2')
root.createObject('BVHNarrowPhase')
root.createObject('DiscreteIntersection')
root.createObject('DefaultContactManager', name="Response", response="CompliantContact", responseParams="compliance=0&restitution=0" )
##### SOLVER
root.createObject('CompliantImplicitSolver', stabilization=1, neglecting_compliance_forces_in_geometric_stiffness=1)
root.createObject('SequentialSolver', iterations=100, precision=0)
#root.createObject('LUResponse')
root.createObject('LDLTResponse')
##### GEAR
gearNode = root.createChild( "GEAR" )
r0 = 0.33
r1 = 0.66
body0 = StructuralAPI.RigidBody( gearNode, "body_0" )
body0.setManually( [0,0,0,0,0,0,1], 1, [1,1,1] )
body0.dofs.showObject = True
body0.dofs.showObjectScale = r0*1.1
body0.dofs.velocity="0 0 0 0 1 0"
body0.node.createObject('Sphere', radius=r0)
body1 = StructuralAPI.RigidBody( gearNode, "body_1" )
body1.setManually( [1,0,0,0,0,0,1], 1, [1,1,1] )
body1.dofs.showObject = True
body1.dofs.showObjectScale = r1*1.1
body1.node.createObject('Sphere', radius=r1)
body0.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
body1.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
d = body0.node.createChild( "d" )
d.createObject('MechanicalObject', template = 'Vec1'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
input = [] # @internal
input.append( '@' + Tools.node_path_rel(root,body0.node) + '/dofs' )
input.append( '@' + Tools.node_path_rel(root,body1.node) + '/dofs' )
d.createObject('GearMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 4 0 4", ratio = -r0/r1 )
body1.node.addChild( d )
d.createObject('UniformCompliance', name = 'compliance', compliance="0" )
##### driving belt / chain
beltNode = root.createChild( "BELT" )
r0 = 0.7
r1 = 0.3
body0 = StructuralAPI.RigidBody( beltNode, "body_0" )
body0.setManually( [0,-2,0,0,0,0,1], 1, [1,1,1] )
body0.dofs.showObject = True
body0.dofs.showObjectScale = r0*1.1
body0.dofs.velocity="0 0 0 0 1 0"
body0.node.createObject('Sphere', radius=r0)
body1 = StructuralAPI.RigidBody( beltNode, "body_1" )
body1.setManually( [1.5,-2,0,0,0,0,1], 1, [1,1,1] )
body1.dofs.showObject = True
body1.dofs.showObjectScale = r1*1.1
body1.node.createObject('Sphere', radius=r1)
body0.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
body1.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
d = body0.node.createChild( "d" )
d.createObject('MechanicalObject', template = 'Vec1'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
input = [] # @internal
input.append( '@' + Tools.node_path_rel(root,body0.node) + '/dofs' )
input.append( '@' + Tools.node_path_rel(root,body1.node) + '/dofs' )
d.createObject('GearMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 4 0 4", ratio = r0/r1 )
body1.node.addChild( d )
d.createObject('UniformCompliance', name = 'compliance', compliance="0" )
##### angle transmission
angleNode = root.createChild( "ANGLE" )
r0 = 0.49
r1 = 0.49
body0 = StructuralAPI.RigidBody( angleNode, "body_0" )
body0.setManually( [0,-4,0,0,0,0,1], 1, [1,1,1] )
body0.dofs.showObject = True
body0.dofs.showObjectScale = r0*1.1
body0.dofs.velocity="0 0 0 1 0 0"
body0.node.createObject('Sphere', radius=r0)
body1 = StructuralAPI.RigidBody( angleNode, "body_1" )
body1.setManually( [1,-4,0,0,0,0,1], 1, [1,1,1] )
body1.dofs.showObject = True
body1.dofs.showObjectScale = r1*1.1
body1.node.createObject('Sphere', radius=r1)
body0.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 0 1 1")
body1.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
d = body0.node.createChild( "d" )
d.createObject('MechanicalObject', template = 'Vec1'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
input = [] # @internal
input.append( '@' + Tools.node_path_rel(root,body0.node) + '/dofs' )
input.append( '@' + Tools.node_path_rel(root,body1.node) + '/dofs' )
d.createObject('GearMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 3 0 4", ratio = r0/r1 )
body1.node.addChild( d )
d.createObject('UniformCompliance', name = 'compliance', compliance="0" )
##### rack
rackNode = root.createChild( "RACK" )
body0 = StructuralAPI.RigidBody( rackNode, "body_0" )
body0.setManually( [0,-6,0,0,0,0,1], 1, [1,1,1] )
body0.dofs.showObject = True
body0.dofs.showObjectScale = 0.55
body0.dofs.velocity="0 0 0 0 0 1"
body0.node.createObject('Sphere', radius=0.5)
body1 = StructuralAPI.RigidBody( rackNode, "body_1" )
body1.setManually( [-2,-6.71,0, 0,0,0.7071067811865476,0.7071067811865476], 1, [1,1,1] )
body1.dofs.showObject = True
body1.dofs.showObjectScale = 0.3
body1.node.createObject('Capsule', radii="0.2", heights="5")
body0.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 1 0")
body1.node.createObject('PartialFixedConstraint', fixedDirections="0 1 1 1 1 1")
d = body0.node.createChild( "d" )
d.createObject('MechanicalObject', template = 'Vec1'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
input = [] # @internal
input.append( '@' + Tools.node_path_rel(root,body0.node) + '/dofs' )
input.append( '@' + Tools.node_path_rel(root,body1.node) + '/dofs' )
d.createObject('GearMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 5 0 0", ratio = 1 )
body1.node.addChild( d )
d.createObject('UniformCompliance', name = 'compliance', compliance="0" )
def run():
ok = True
info = SofaPython.mass.RigidMassInfo()
# testing axis-aligned known geometric shapes
for m in xrange(len(meshes)):
mesh = meshes[m]
mesh_path = path + meshes[m]
for s in xrange(len(scales)):
scale = scales[s]
if mesh == "cylinder.obj" and scale[0] != scale[1]:
continue
for d in xrange(len(densities)):
density = densities[d]
info.setFromMesh(mesh_path, density, scale)
error = " (" + meshes[m] + ", s=" + Tools.cat(
scale) + " d=" + str(density) + ")"
ok &= EXPECT_TRUE(
almostEqualReal(info.mass, masses[m][s][d]), "mass" +
error + " " + str(info.mass) + "!=" + str(masses[m][s][d]))
ok &= EXPECT_TRUE(
almostEqualLists(info.com, [x * 0.5 for x in scale]),
"com" + error + " " + Tools.cat(info.com) + "!=" +
Tools.cat([x * 0.5 for x in scale]))
ok &= EXPECT_TRUE(
almostEqualLists(info.diagonal_inertia, inertia[m][s][d]),
"inertia" + error + " " + str(info.diagonal_inertia) +
"!=" + str(inertia[m][s][d]))
# testing diagonal inertia extraction from a rotated cuboid
mesh = "cube.obj"
mesh_path = path + mesh
scale = scales[3]
density = 1
theory = sorted(inertia[0][3][0])
for r in rotations:
info.setFromMesh(mesh_path, density, scale, r)
local = sorted(info.diagonal_inertia)
ok &= EXPECT_TRUE(
almostEqualLists(local, theory), "inertia " + str(local) + "!=" +
str(theory) + " (rotation=" + str(r) + ")")
# testing extracted inertia rotation
mesh = "rotated_cuboid_12_35_-27.obj"
mesh_path = path + mesh
density = 1
info.setFromMesh(mesh_path, density)
# theoretical results
scale = [2, 3, 1]
mass = density * scale[0] * scale[1] * scale[2]
inertiat = numpy.empty(3)
inertiat[0] = 1.0 / 12.0 * mass * (
scale[1] * scale[1] + scale[2] * scale[2]) # x
inertiat[1] = 1.0 / 12.0 * mass * (
scale[0] * scale[0] + scale[2] * scale[2]) # y
inertiat[2] = 1.0 / 12.0 * mass * (
scale[0] * scale[0] + scale[1] * scale[1]) # z
# used quaternion in mesh
q = Quaternion.normalized(
Quaternion.from_euler([
12 * math.pi / 180.0, 35 * math.pi / 180.0, -27 * math.pi / 180.0
]))
# corresponding rotation matrices (ie frame defined by columns)
mt = Quaternion.to_matrix(q)
m = Quaternion.to_matrix(info.inertia_rotation)
# matching inertia
idxt = numpy.argsort(inertiat)
idx = numpy.argsort(info.diagonal_inertia)
# checking if each axis/column are parallel (same or opposite for unitary vectors)
for i in xrange(3):
ok &= EXPECT_TRUE(
almostEqualLists(mt[:, idxt[i]].tolist(), m[:, idx[i]].tolist(),
1e-5)
or almostEqualLists(mt[:, idxt[i]].tolist(),
(-m[:, idx[i]]).tolist(), 1e-5),
"wrong inertia rotation")
# print mt[:,idxt]
# print m [:,idx ]
return ok
def createScene(root):
##### global parameters
root.createObject('VisualStyle', displayFlags="showBehavior showCollisionModels" )
root.dt = 0.01
root.gravity = [0, -10, 0]
root.createObject('RequiredPlugin', pluginName = 'Compliant')
root.createObject('CompliantAttachButton')
root.createObject('DefaultPipeline', name='DefaultCollisionPipeline', depth="6")
root.createObject('BruteForceDetection')
root.createObject('DiscreteIntersection')
root.createObject('DefaultContactManager', name="Response", response="CompliantContact", responseParams="compliance=0&restitution=0" )
##### SOLVER
root.createObject('CompliantImplicitSolver', stabilization=1, neglecting_compliance_forces_in_geometric_stiffness=1)
root.createObject('SequentialSolver', iterations=100, precision=0)
#root.createObject('LUResponse')
root.createObject('LDLTResponse')
##### GEAR
gearNode = root.createChild( "GEAR" )
r0 = 0.33
r1 = 0.66
body0 = StructuralAPI.RigidBody( gearNode, "body_0" )
body0.setManually( [0,0,0,0,0,0,1], 1, [1,1,1] )
body0.dofs.showObject = True
body0.dofs.showObjectScale = r0*1.1
body0.dofs.velocity="0 0 0 0 1 0"
body0.node.createObject('Sphere', radius=r0)
body1 = StructuralAPI.RigidBody( gearNode, "body_1" )
body1.setManually( [1,0,0,0,0,0,1], 1, [1,1,1] )
body1.dofs.showObject = True
body1.dofs.showObjectScale = r1*1.1
body1.node.createObject('Sphere', radius=r1)
body0.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
body1.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
d = body0.node.createChild( "d" )
d.createObject('MechanicalObject', template = 'Vec1'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
input = [] # @internal
input.append( '@' + Tools.node_path_rel(root,body0.node) + '/dofs' )
input.append( '@' + Tools.node_path_rel(root,body1.node) + '/dofs' )
d.createObject('GearMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 4 0 4", ratio = -r0/r1 )
body1.node.addChild( d )
d.createObject('UniformCompliance', name = 'compliance', compliance="0" )
##### driving belt / chain
beltNode = root.createChild( "BELT" )
r0 = 0.7
r1 = 0.3
body0 = StructuralAPI.RigidBody( beltNode, "body_0" )
body0.setManually( [0,-2,0,0,0,0,1], 1, [1,1,1] )
body0.dofs.showObject = True
body0.dofs.showObjectScale = r0*1.1
body0.dofs.velocity="0 0 0 0 1 0"
body0.node.createObject('Sphere', radius=r0)
body1 = StructuralAPI.RigidBody( beltNode, "body_1" )
body1.setManually( [1.5,-2,0,0,0,0,1], 1, [1,1,1] )
body1.dofs.showObject = True
body1.dofs.showObjectScale = r1*1.1
body1.node.createObject('Sphere', radius=r1)
body0.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
body1.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
d = body0.node.createChild( "d" )
d.createObject('MechanicalObject', template = 'Vec1'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
input = [] # @internal
input.append( '@' + Tools.node_path_rel(root,body0.node) + '/dofs' )
input.append( '@' + Tools.node_path_rel(root,body1.node) + '/dofs' )
d.createObject('GearMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 4 0 4", ratio = r0/r1 )
body1.node.addChild( d )
d.createObject('UniformCompliance', name = 'compliance', compliance="0" )
##### angle transmission
angleNode = root.createChild( "ANGLE" )
r0 = 0.49
r1 = 0.49
body0 = StructuralAPI.RigidBody( angleNode, "body_0" )
body0.setManually( [0,-4,0,0,0,0,1], 1, [1,1,1] )
body0.dofs.showObject = True
body0.dofs.showObjectScale = r0*1.1
body0.dofs.velocity="0 0 0 1 0 0"
body0.node.createObject('Sphere', radius=r0)
body1 = StructuralAPI.RigidBody( angleNode, "body_1" )
body1.setManually( [1,-4,0,0,0,0,1], 1, [1,1,1] )
body1.dofs.showObject = True
body1.dofs.showObjectScale = r1*1.1
body1.node.createObject('Sphere', radius=r1)
body0.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 0 1 1")
body1.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
d = body0.node.createChild( "d" )
d.createObject('MechanicalObject', template = 'Vec1'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
input = [] # @internal
input.append( '@' + Tools.node_path_rel(root,body0.node) + '/dofs' )
input.append( '@' + Tools.node_path_rel(root,body1.node) + '/dofs' )
d.createObject('GearMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 3 0 4", ratio = r0/r1 )
body1.node.addChild( d )
d.createObject('UniformCompliance', name = 'compliance', compliance="0" )
##### rack
rackNode = root.createChild( "RACK" )
body0 = StructuralAPI.RigidBody( rackNode, "body_0" )
body0.setManually( [0,-6,0,0,0,0,1], 1, [1,1,1] )
body0.dofs.showObject = True
body0.dofs.showObjectScale = 0.55
body0.dofs.velocity="0 0 0 0 0 1"
body0.node.createObject('Sphere', radius=0.5)
body1 = StructuralAPI.RigidBody( rackNode, "body_1" )
body1.setManually( [-2,-6.71,0, 0,0,0.7071067811865476,0.7071067811865476], 1, [1,1,1] )
body1.dofs.showObject = True
body1.dofs.showObjectScale = 0.3
body1.node.createObject('Capsule', radii="0.2", heights="5")
body0.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 1 0")
body1.node.createObject('PartialFixedConstraint', fixedDirections="0 1 1 1 1 1")
d = body0.node.createChild( "d" )
d.createObject('MechanicalObject', template = 'Vec1'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
input = [] # @internal
input.append( '@' + Tools.node_path_rel(root,body0.node) + '/dofs' )
input.append( '@' + Tools.node_path_rel(root,body1.node) + '/dofs' )
d.createObject('GearMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 5 0 0", ratio = 1 )
body1.node.addChild( d )
d.createObject('UniformCompliance', name = 'compliance', compliance="0" )