def createScene(rootNode):
from stlib3.scene import MainHeader
from stlib3.physics.deformable import ElasticMaterialObject
MainHeader(rootNode)
# Tetrahedron and triangle subtopology
target = ElasticMaterialObject(volumeMeshFileName="mesh/liver2.msh",
totalMass=0.5,
attachedTo=rootNode)
target.addObject('BoxROI',
name='boxROI',
box=[-20, -20, -20, 20, 20, 20],
drawBoxes=True)
SubTopology(attachedTo=target,
containerLink='@../container.position',
boxRoiLink='@../boxROI.tetrahedraInROI',
name='Default-tetrahedron')
SubTopology(attachedTo=target,
containerLink='@../container.position',
linkType='triangle',
boxRoiLink='@../boxROI.trianglesInROI',
name='Triangles')
def ElasticBody(parent):
body = parent.addChild('ElasticBody')
e = ElasticMaterialObject(
body,
volumeMeshFileName='../../data/mesh/tripod_mid.gidmsh',
translation=[0.0, 30, 0.0],
rotation=[90, 0, 0],
youngModulus=600,
poissonRatio=0.45,
totalMass=0.4)
visual = body.addChild('Visual')
visual.addObject('MeshSTLLoader',
name='loader',
filename='../../data/mesh/tripod_mid.stl')
visual.addObject('OglModel',
name='renderer',
src='@loader',
color=[1.0, 1.0, 1.0, 0.5],
rotation=[90, 0, 0],
translation=[0, 30, 0])
visual.addObject('BarycentricMapping',
input=e.dofs.getLinkPath(),
output=visual.renderer.getLinkPath())
return body
def ElasticBody(parent):
body = parent.addChild("ElasticBody")
e = ElasticMaterialObject(
body,
volumeMeshFileName="../../data/mesh/tripod_mid.gidmsh",
translation=[0.0, 30, 0.0],
rotation=[90, 0, 0],
youngModulus=800,
poissonRatio=0.45,
totalMass=0.032)
visual = body.addChild("Visual")
visual.addObject("MeshSTLLoader",
name="loader",
filename="../../data/mesh/tripod_mid.stl")
visual.addObject("OglModel",
name="renderer",
src="@loader",
color=[1.0, 1.0, 1.0, 0.5],
rotation=[90, 0, 0],
translation=[0, 30, 0])
visual.addObject("BarycentricMapping",
input=e.dofs.getLinkPath(),
output=visual.renderer.getLinkPath())
CollisionMesh(e,
surfaceMeshFileName="../../data/mesh/tripod_low.stl",
name="silicone",
translation=[0.0, 30, 0.0],
rotation=[90, 0, 0],
collisionGroup=1)
return body
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+'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')
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(node):
from stlib3.scene import MainHeader
from stlib3.physics.deformable import ElasticMaterialObject
MainHeader(node, plugins=["SoftRobots"])
target = ElasticMaterialObject(volumeMeshFileName="mesh/liver.msh",
totalMass=0.5,
attachedTo=node)
PullingCable(target)
def createScene(rootNode):
from stlib3.scene import MainHeader
from stlib3.physics.deformable import ElasticMaterialObject
from stlib3.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)
def createScene(rootNode):
from stlib3.scene import MainHeader
from stlib3.physics.deformable import ElasticMaterialObject
from stlib3.physics.constraints import PartiallyFixedBox
MainHeader(rootNode)
target = ElasticMaterialObject(fromVolumeMesh="mesh/liver.msh",
withTotalMass=0.5,
attachedTo=rootNode)
PartiallyFixedBox(box=[-4, 0, 0, 5, 5, 4],
attachedTo=target,
drawBoxes=True,
fixedAxis=[0, 1, 0])
def createScene(rootNode):
"""
"""
from stlib3.scene import MainHeader
from stlib3.physics.deformable import ElasticMaterialObject
from stlib3.physics.mixedmaterial import Rigidify
from splib3.objectmodel import setData
MainHeader(rootNode,
plugins=[
"SofaSparseSolver", "SofaImplicitOdeSolver",
"SofaMiscMapping", "SofaRigid", "SofaBoundaryCondition"
])
rootNode.VisualStyle.displayFlags = "showBehavior"
modelNode = rootNode.addChild("Modeling")
elasticobject = ElasticMaterialObject(volumeMeshFileName="mesh/liver.msh",
name="ElasticMaterialObject")
modelNode.addChild(elasticobject)
# Rigidification of the elasticobject for given indices with given frameOrientations.
o = Rigidify(modelNode,
elasticobject,
name="RigidifiedStructure",
frames=[[0., 0., 0], [0., 0., 0]],
groupIndices=[[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
[48, 49, 50, 51]])
# Activate some rendering on the rigidified object.
setData(o.RigidParts.dofs, showObject=True, showObjectScale=1, drawMode=2)
setData(o.RigidParts.RigidifiedParticules.dofs,
showObject=True,
showObjectScale=0.1,
drawMode=1,
showColor=[1., 1., 0., 1.])
setData(o.DeformableParts.dofs,
showObject=True,
showObjectScale=0.1,
drawMode=2)
o.RigidParts.addObject("FixedConstraint", indices=0)
simulationNode = rootNode.addChild("Simulation")
simulationNode.addObject("EulerImplicitSolver")
simulationNode.addObject("CGLinearSolver")
simulationNode.addChild(o)
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
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