def createScene(rootNode):
rootNode.createObject('VisualStyle', displayFlags='showVisualModels showForceFields')
rootNode.findData('gravity').value=[0.0,0.0,-9810];
rootNode.findData('dt').value=1
plugins=["SofaPython","SoftRobots","ModelOrderReduction"]
for name in plugins:
rootNode.createObject('RequiredPlugin', name=name, printLog=False)
rootNode.createObject('OglSceneFrame', style="Arrows", alignment="TopRight")
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('GenericConstraintSolver', tolerance="1e-6", maxIterations="1000")
modelNode = ElasticMaterialObject(
attachedTo=rootNode,
volumeMeshFileName=meshPath+'cylinder_real_sparse.vtu',
# volumeMeshFileName=meshPath+'siliconeV0.vtu',
name='modelNode',
# rotation=[90, 0.0, 0.0],
# translation=[0.0, 0.0, 35],
rotation=[0.0, 0.0, 0.0],
translation=[0.0, 0.0, 0],
totalMass=0.5,
withConstrain=False,
surfaceMeshFileName=meshPath+'cylinder.STL',
surfaceColor=[0.7, 0.7, 0.7, 0.7],
poissonRatio=0.45,
youngModulus=450)
modelNode.createObject('GenericConstraintCorrection', solverName='solver')
FixedBox(
atPositions=[-15, -5, -20, 15, 25, 10],
applyTo=modelNode,
name="box1",
doVisualization=True)
FixedBox(
atPositions=[-15, -5, -615, 15, 25, -585],
applyTo=modelNode,
name="box2",
doVisualization=True)
for i in range(len(actuatorsParam)):
cable = PullingCable(
attachedTo=modelNode,
name=actuatorsParam[i]['withName'],
cableGeometry=actuatorsParam[i]['withCableGeometry'],
pullPointLocation=actuatorsParam[i]['withAPullPointLocation'],
valueType="displacement")
return rootNode
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 createBunny(Node,
Translation=[0, 0, 0],
ControlType='PressureConstraint',
Name='Bunny',
InitialValue=0.0001,
YoungModulus=18000):
#Bunny
#BoxROICoordinates=[-5, -6, -5, 5, -4.5, 5] + [Translation,Translation]
BoxROICoordinates = [
-5 + Translation[0], -6 + Translation[1], -5 + Translation[2],
5 + Translation[0], -4.5 + Translation[1], 5 + Translation[2]
]
Bunny = ElasticMaterialObject(
name=Name,
attachedTo=Node,
volumeMeshFileName=meshpath + 'Hollow_Stanford_Bunny.vtu',
surfaceMeshFileName=meshpath + 'Hollow_Bunny_Body_Cavity.obj',
youngModulus=YoungModulus,
withConstrain=True,
totalMass=0.5,
translation=Translation)
FixedBox(Bunny, doVisualization=True, atPositions=BoxROICoordinates)
if ControlType == 'PressureConstraint':
cavity = PneumaticCavity(name='Cavity',
attachedAsAChildOf=Bunny,
surfaceMeshFileName=meshpath +
'Hollow_Bunny_Body_Cavity.obj',
valueType='pressureGrowth',
initialValue=InitialValue,
translation=Translation)
elif ControlType == 'VolumeConstraint':
cavity = PneumaticCavity(name='Cavity',
attachedAsAChildOf=Bunny,
surfaceMeshFileName=meshpath +
'Hollow_Bunny_Body_Cavity.obj',
valueType='volumeGrowth',
initialValue=InitialValue,
translation=Translation)
BunnyVisu = Bunny.createChild('visu')
BunnyVisu.createObject('TriangleSetTopologyContainer', name='container')
BunnyVisu.createObject('TriangleSetTopologyModifier')
BunnyVisu.createObject('TriangleSetTopologyAlgorithms', template='Vec3d')
BunnyVisu.createObject('TriangleSetGeometryAlgorithms', template='Vec3d')
BunnyVisu.createObject('Tetra2TriangleTopologicalMapping',
name='Mapping',
input="@../container",
output="@container")
BunnyVisu.createObject('OglModel',
template='ExtVec3f',
color='0.3 0.2 0.2 0.6',
translation=Translation)
BunnyVisu.createObject('IdentityMapping')
return Bunny
def Bunny(Node,
translation=[0, 0, 0],
controlType='PressureConstraint',
name='Bunny',
initialValue=0.0001,
youngModulus=18000):
#Bunny
#boxROICoordinates=[-5, -6, -5, 5, -4.5, 5] + [translation,translation]
boxROICoordinates = [
-5 + translation[0], -6 + translation[1], -5 + translation[2],
5 + translation[0], -4.5 + translation[1], 5 + translation[2]
]
Bunny = ElasticMaterialObject(
name=name,
attachedTo=Node,
volumeMeshFileName=meshpath + 'Hollow_Stanford_Bunny.vtu',
surfaceMeshFileName=meshpath + 'Hollow_Bunny_Body_Cavity.obj',
youngModulus=youngModulus,
withConstrain=True,
totalMass=0.5,
translation=translation)
FixedBox(Bunny, doVisualization=True, atPositions=boxROICoordinates)
if controlType == 'PressureConstraint':
cavity = PneumaticCavity(name='Cavity',
attachedAsAChildOf=Bunny,
surfaceMeshFileName=meshpath +
'Hollow_Bunny_Body_Cavity.obj',
valueType='pressureGrowth',
initialValue=initialValue,
translation=translation)
elif controlType == 'VolumeConstraint':
cavity = PneumaticCavity(name='Cavity',
attachedAsAChildOf=Bunny,
surfaceMeshFileName=meshpath +
'Hollow_Bunny_Body_Cavity.obj',
valueType='volumeGrowth',
initialValue=initialValue,
translation=translation)
BunnyVisu = Bunny.addChild('visu')
BunnyVisu.addObject('TriangleSetTopologyContainer', name='container')
BunnyVisu.addObject('TriangleSetTopologyModifier')
BunnyVisu.addObject('Tetra2TriangleTopologicalMapping',
name='Mapping',
input="@../container",
output="@container")
BunnyVisu.addObject('OglModel',
color=[0.3, 0.2, 0.2, 0.6],
translation=translation)
BunnyVisu.addObject('IdentityMapping')
return Bunny
def Finger(parentNode=None,
name="Finger",
rotation=[0.0, 0.0, 0.0],
translation=[0.0, 0.0, 0.0],
fixingBox=[-5.0, 0.0, 0.0, 10.0, 15.0, 20.0],
pullPointLocation=[0.0, 0.0, 0.0]):
finger = Node(parentNode, name)
eobject = ElasticMaterialObject(finger,
volumeMeshFileName="data/mesh/finger.vtk",
poissonRatio=0.3,
youngModulus=18000,
totalMass=0.5,
surfaceColor=[0.0, 0.8, 0.7],
surfaceMeshFileName="data/mesh/finger.stl",
rotation=rotation,
translation=translation)
FixedBox(eobject.node, atPositions=fixingBox, doVisualization=True)
cable = PullingCable(
eobject.node,
"PullingCable",
pullPointLocation=pullPointLocation,
rotation=rotation,
translation=translation,
cableGeometry=loadPointListFromFile("data/mesh/cable.json"))
FingerController(eobject.node, cable)
CollisionMesh(eobject.node,
name="CollisionMesh",
surfaceMeshFileName="data/mesh/finger.stl",
rotation=rotation,
translation=translation,
collisionGroup=[1, 2])
CollisionMesh(eobject.node,
name="CollisionMeshAuto1",
surfaceMeshFileName="data/mesh/fingerCollision_part1.stl",
rotation=rotation,
translation=translation,
collisionGroup=[1])
CollisionMesh(eobject.node,
name="CollisionMeshAuto2",
surfaceMeshFileName="data/mesh/fingerCollision_part2.stl",
rotation=rotation,
translation=translation,
collisionGroup=[2])
return finger
def createScene(rootNode):
from stlib.scene import MainHeader
from stlib.physics.deformable import ElasticMaterialObject
from stlib.physics.constraints import FixedBox
MainHeader(rootNode)
target = ElasticMaterialObject(fromVolumeMesh="mesh/liver.msh",
withTotalMass=0.5,
attachedTo=rootNode)
FixedBox(atPositions=[-4, 0, 0, 5, 5, 4],
applyTo=target,
withVisualization=True)
def createScene(rootNode):
from stlib.scene import MainHeader
from stlib.physics.deformable import ElasticMaterialObject
from stlib.physics.constraints import FixedBox
MainHeader(rootNode)
target = ElasticMaterialObject(volumeMeshFileName="mesh/liver.msh",
totalMass=0.5,
attachedTo=rootNode)
FixedBox(atPositions=[-4, 0, 0, 5, 5, 4], applyTo=target,
doVisualization=True)
CollisionMesh(surfaceMeshFileName="mesh/liver.obj", attachedTo=target)
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):
rootNode = MainHeader( rootNode,
plugins=["SofaPython","SoftRobots","ModelOrderReduction"],
dt=1,
gravity=[0.0,0.0,-9810])
modelNode = ElasticMaterialObject(
attachedTo=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)
modelNode.createObject('GenericConstraintCorrection', solverName='Solver')
# modelNode.createObject('WriteState', filename="init_myDiamondQuiteFine.vtu.state", period='0.1',writeX="0", writeX0="1", writeV="0")
FixedBox(
atPositions=[-15, -15, -40, 15, 15, 10],
applyTo=modelNode,
doVisualization=True)
for i in range(len(actuatorsParam)):
cable = PullingCable(
attachedTo=modelNode,
name=actuatorsParam[i]['withName'],
cableGeometry=actuatorsParam[i]['withCableGeometry'],
pullPointLocation=actuatorsParam[i]['withAPullPointLocation'],
valueType="displacement")
return rootNode
def createScene(rootNode):
rootNode.createObject('VisualStyle',
displayFlags='showVisualModels showForceFields')
rootNode.findData('gravity').value = [0.0, 0.0, -9810]
rootNode.findData('dt').value = 0.1
plugins = ["SofaPython", "SoftRobots", "ModelOrderReduction"]
for name in plugins:
rootNode.createObject('RequiredPlugin', name=name, printLog=False)
rootNode.createObject('OglSceneFrame',
style="Arrows",
alignment="TopRight")
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('GenericConstraintSolver',
tolerance="1e-6",
maxIterations="1000")
modelNode = rootNode.createChild('modelNode')
modelNode.createObject('EulerImplicitSolver',
rayleighStiffness='0.1',
rayleighMass='0.1')
modelNode.createObject('SparseLDLSolver', name="solver")
modelNode.createObject('MeshVTKLoader',
name="loader",
filename=meshPath + 'siliconeV0.vtu',
rotation=[90, 0, 0],
translation=[0, 0, 35])
modelNode.createObject('TetrahedronSetTopologyContainer', src="@loader")
modelNode.createObject('MechanicalObject',
name="tetras",
template="Vec3d",
showIndices="false",
showIndicesScale="4e-5")
modelNode.createObject('UniformMass', totalMass="0.5")
poissonRatio = 0.45
youngModulus = 450
mu_ = youngModulus / (2 * (1 + poissonRatio))
lambda_ = youngModulus * poissonRatio / ((1 - 2 * poissonRatio) *
(1 + poissonRatio))
k0_ = youngModulus / (3 * (1 - 2 * poissonRatio))
modelNode.createObject('TetrahedronHyperelasticityFEMForceField',
materialName="StVenantKirchhoff",
ParameterSet=str(mu_) + " " + str(lambda_),
AnisotropyDirections="",
printLog=False)
#modelNode.createObject('TetrahedronHyperelasticityFEMForceField',materialName="NeoHookean", ParameterSet=str(mu_) + " " + str(k0_), AnisotropyDirections="")
modelNode.createObject('GenericConstraintCorrection', solverName='solver')
FixedBox(atPositions=[-15, -15, -40, 15, 15, 10],
applyTo=modelNode,
doVisualization=True)
for i in range(len(actuatorsParam)):
cable = PullingCable(
attachedTo=modelNode,
name=actuatorsParam[i]['withName'],
cableGeometry=actuatorsParam[i]['withCableGeometry'],
pullPointLocation=actuatorsParam[i]['withAPullPointLocation'],
valueType="displacement")
return rootNode
def Finger(parentNode=None,
name="Finger",
rotation=[0.0, 0.0, 0.0],
translation=[0.0, 0.0, 0.0],
fixingBox=[0.0, 0.0, 0.0],
pullPointLocation=[0.0, 0.0, 0.0],
youngModulus=18000,
valueType='position'):
finger = Node(parentNode, name)
eobject = ElasticMaterialObject(
finger,
volumeMeshFileName=os.path.join(
templatepath,
"mesh/finger.vtk"), #MISK need to change the relative file
poissonRatio=0.3,
youngModulus=youngModulus,
totalMass=0.5,
surfaceColor=[0.0, 0.8, 0.65],
surfaceMeshFileName=os.path.join(templatepath, "mesh/finger.stl"),
rotation=rotation,
translation=translation)
FixedBox(eobject, atPositions=fixingBox, doVisualization=True)
cable = PullingCable(eobject,
"PullingCable",
pullPointLocation=pullPointLocation,
rotation=rotation,
translation=translation,
cableGeometry=loadPointListFromFile(
os.path.join(templatepath, "mesh/cable.json")),
valueType=valueType)
#Eulalie.C (21/09/18): this feature does not work, either fix it or remove this comment before SoftRobots v19
#FingerController(eobject, cable, valueType) #MISK may change to vary variation based on value type
CollisionMesh(eobject,
name="CollisionMesh",
surfaceMeshFileName=os.path.join(templatepath,
"mesh/finger.stl"),
rotation=rotation,
translation=translation,
collisionGroup=[1, 2])
CollisionMesh(eobject,
name="CollisionMeshAuto1",
surfaceMeshFileName=os.path.join(
templatepath, "mesh/fingerCollision_part1.stl"),
rotation=rotation,
translation=translation,
collisionGroup=[1])
CollisionMesh(eobject,
name="CollisionMeshAuto2",
surfaceMeshFileName=os.path.join(
templatepath, "mesh/fingerCollision_part2.stl"),
rotation=rotation,
translation=translation,
collisionGroup=[2])
return finger