def ElasticBody(parent):
"""Create an object with an elastic deformation law"""
body = parent.createChild("ElasticBody")
# Prefab ElasticMaterialObject implementing the whole mechanical model of the silicone piece
e = ElasticMaterialObject(body,
volumeMeshFileName="data/mesh/tripod_mid.gidmsh",
poissonRatio=0.45,
youngModulus=800,
totalMass=0.032,
rotation=[90, 0, 0])
# Visual model
visual = e.createChild("Visual")
visual.createObject("MeshSTLLoader",
name="loader",
filename="data/mesh/tripod_mid.stl",
rotation=[90, 0, 0])
visual.createObject("OglModel",
name="renderer",
src="@loader",
color=[1.0, 1.0, 1.0, 0.5])
visual.createObject("BarycentricMapping",
input=e.dofs.getLinkPath(),
output=visual.renderer.getLinkPath())
return body
def createScene(rootNode):
from stlib.scene import MainHeader
from stlib.physics.deformable import ElasticMaterialObject
MainHeader(rootNode)
target = ElasticMaterialObject( volumeMeshFileName="mesh/liver.msh",
totalMass=0.5,
attachedTo=rootNode)
target.createObject('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')
SubTopology(attachedTo= target,
containerLink= '@../container.position',
linkType= 'hexahedron',
boxRoiLink='@../boxROI.hexahedraInROI',
name='Hexahedron')
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 createSceneReal(rootNode, dt):
length_scale = "0.500"
disk_msh = 'disk_'+length_scale+'.msh'
disk_inside_stl = 'disk_inside'+length_scale+'.stl'
rootNode = Scene(rootNode, gravity=[0.0, -0.0, 9.8], dt=dt)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject('VisualStyle',
displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('GenericConstraintSolver', name='gencs', maxIterations='500', printLog='0', tolerance='0.0000001')
rootNode.createObject('BackgroundSetting', color='0 0.168627 0.211765')
YoungModulus = 1800
InitialValue = 1000.0
Translation="0 0 0"
Bunny = ElasticMaterialObject(name="disk",
attachedTo=rootNode,
volumeMeshFileName=meshpath+disk_msh,
surfaceMeshFileName=meshpath+disk_inside_stl,
youngModulus=YoungModulus,
withConstrain=True,
totalMass=1.0,
translation="0 0 0")
fixed_const_str = ""
fixed_const_lst = [274, 309, 344, 345, 770, 783, 807]
for i in fixed_const_lst:
fixed_const_str = fixed_const_str + " " + str(i)
print "Fixed stuff", fixed_const_lst, fixed_const_str
Bunny.createObject("FixedConstraint", indices=fixed_const_str)
cavity = PneumaticCavity(name='cavity', attachedAsAChildOf=Bunny,
surfaceMeshFileName=meshpath + disk_inside_stl, 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 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 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]):
# trans = translation
finger = ElasticMaterialObject(parentNode,name=name,
volumeMeshFileName=path+"transFinger.vtk",
# volumeMeshFileName=path+"finger.vtk",
poissonRatio=0.45,
youngModulus=600,
totalMass=0.5,
surfaceColor=[0.0, 0.7, 0.7],
surfaceMeshFileName=path+"transFinger.stl",
# surfaceMeshFileName=path+"finger.stl",
rotation=rotation,
translation=translation)
finger.node.createObject('RestShapeSpringsForceField', points='16 17 18 19 20 21 48 51 52 54 63 103 104 105 106 107 113 116 128 135 143 150', stiffness='1e12')
# FixedBox(finger.node, atPositions=fixingBox, doVisualization=True)
CollisionMesh(finger.node, name="CollisionMesh",
surfaceMeshFileName=path+"transFinger.stl",
rotation=rotation, translation=translation,
collisionGroup=[1, 2])
# CollisionMesh(finger.node, name="CollisionMeshAuto1",
# surfaceMeshFileName=path+"fingerCollision_part1.stl",
# rotation=rotation, translation=translation,
# collisionGroup=[1])
#
# CollisionMesh(finger.node, name="CollisionMeshAuto2",
# surfaceMeshFileName=path+"fingerCollision_part2.stl",
# rotation=rotation, translation=translation,
# collisionGroup=[2])
return finger
def ElasticBody(parent):
body = parent.createChild('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.createChild('Visual')
visual.createObject('MeshSTLLoader',
name='loader',
filename='../data/mesh/tripod_mid.stl')
visual.createObject('OglModel',
name='renderer',
src='@loader',
color=[1.0, 1.0, 1.0, 0.5],
rotation=[90, 0, 0],
translation=[0, 30, 0])
visual.createObject('BarycentricMapping',
input=e.dofs.getLinkPath(),
output=visual.renderer.getLinkPath())
return body
def ElasticBody(parent):
body = parent.createChild("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.createChild("Visual")
visual.createObject("MeshSTLLoader",
name="loader",
filename="../data/mesh/tripod_mid.stl")
visual.createObject("OglModel",
name="renderer",
src="@loader",
color=[1.0, 1.0, 1.0, 0.5],
rotation=[90, 0, 0],
translation=[0, 30, 0])
visual.createObject("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):
"""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):
"""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(node):
from stlib.scene import MainHeader
from stlib.physics.deformable import ElasticMaterialObject
MainHeader(node, plugins=["SoftRobots"])
target = ElasticMaterialObject(volumeMeshFileName="mesh/liver.msh",
totalMass=0.5,
attachedTo=node)
PullingCable(target)
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):
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):
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):
"""
"""
from stlib.scene import MainHeader
from stlib.physics.deformable import ElasticMaterialObject
from stlib.physics.mixedmaterial import Rigidify
from splib.objectmodel import setData
MainHeader(rootNode, plugins=["SofaSparseSolver"])
rootNode.VisualStyle.displayFlags = "showBehavior"
modelNode = rootNode.createChild("Modeling")
elasticobject = ElasticMaterialObject(modelNode, "mesh/liver.msh",
"ElasticMaterialObject")
# 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.createObject("FixedConstraint", indices=0)
simulationNode = rootNode.createChild("Simulation")
simulationNode.createObject("EulerImplicitSolver")
simulationNode.createObject("CGLinearSolver")
simulationNode.addChild(o)
return rootNode
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')
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 createSceneReal(rootNode, dt, fixed_const_lst, moving_const_lst):
length_scale = sys.argv[1]
block_msh = 'block_' + length_scale + '.msh'
rootNode = Scene(rootNode, gravity=[0.0, -0.0, 1000.0], dt=dt)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject(
'VisualStyle',
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe'
)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject(
'VisualStyle',
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe'
)
rootNode.dt = dt
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('GenericConstraintSolver',
name='gencs',
maxIterations='500',
printLog='0',
tolerance='0.0000001')
rootNode.createObject('BackgroundSetting', color='0 0.168627 0.211765')
YoungModulus = 1800
InitialValue = 0.01
Translation = None
Block = ElasticMaterialObject(name="block",
attachedTo=rootNode,
volumeMeshFileName=meshpath + block_msh,
surfaceMeshFileName=None,
youngModulus=YoungModulus,
withConstrain=True,
totalMass=1.0,
translation=None)
fixed_const_str = ""
for i in fixed_const_lst:
fixed_const_str = fixed_const_str + " " + str(i)
moving_const_str = ""
for i in moving_const_lst:
moving_const_str = moving_const_str + " " + str(i)
print 'moving', moving_const_str
print 'fixed ', fixed_const_str
Block.createObject("FixedConstraint", indices=fixed_const_str)
inds = "7 63 62 60 5 254 240 206 236 47 68 69 253"
Block.createObject('PartialLinearMovementConstraint',
indices=moving_const_str,
keyTimes='0 ' + str(dt) + " 10",
template='Vec3d',
movements='0. 0. 0. 0. -1 0. 0. -1 0.')
#cavity = PneumaticCavity(name='Cavity', attachedAsAChildOf=Block,
# surfaceMeshFileName=meshpath + block_inside_stl, valueType='pressureGrowth',
# initialValue=InitialValue, translation=Translation)
BlockVisu = Block.createChild('visu')
BlockVisu.createObject('TriangleSetTopologyContainer', name='container')
BlockVisu.createObject('TriangleSetTopologyModifier')
BlockVisu.createObject('TriangleSetTopologyAlgorithms', template='Vec3d')
BlockVisu.createObject('TriangleSetGeometryAlgorithms', template='Vec3d')
BlockVisu.createObject('Tetra2TriangleTopologicalMapping',
name='Mapping',
input="@../container",
output="@container")
BlockVisu.createObject('OglModel',
template='ExtVec3f',
color='0.3 0.2 0.2 0.6',
translation=Translation)
BlockVisu.createObject('IdentityMapping')
return Block
def createSceneReal(rootNode, dt, L):
length_scale = L
disk_msh = 'disk_' + length_scale + '.msh'
disk_inside_stl = 'disk_inside' + length_scale + '.stl'
'''
# find point closest to zero (with positive z valu)
vector, mid_ind = point_finder.nth_smallest_point(disk_msh, 0)
i = 0
while vector[-1] < 1.0:
i += 1
vector, mid_ind = point_finder.nth_smallest_point(disk_msh, i)
print(vector, mid_ind)'''
rootNode = Scene(rootNode, gravity=[0.0, -0.0, 9.8], dt=dt)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject(
'VisualStyle',
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe'
)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject(
'VisualStyle',
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe'
)
rootNode.dt = 0.001
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('GenericConstraintSolver',
name='gencs',
maxIterations='500',
printLog='0',
tolerance='0.0000001')
#disksolver = rootNode.add('SparseLDLSolver', name="solver")
rootNode.createObject('BackgroundSetting', color='0 0.168627 0.211765')
YoungModulus = 1800
InitialValue = 0.01
Translation = None
Bunny = ElasticMaterialObject(name="disk",
attachedTo=rootNode,
volumeMeshFileName=meshpath + disk_msh,
surfaceMeshFileName=meshpath +
disk_inside_stl,
youngModulus=YoungModulus,
withConstrain=True,
totalMass=1.0,
translation=None)
fixed_const_str = ""
fixed_const_lst = point_finder.all_nodes_within_and_below_zero(
disk_msh, 2.0)
for i in fixed_const_lst:
fixed_const_str = fixed_const_str + " " + str(i)
print "hell", fixed_const_lst, fixed_const_str
Bunny.createObject("FixedConstraint", indices=fixed_const_str)
cavity = PneumaticCavity(name='Cavity',
attachedAsAChildOf=Bunny,
surfaceMeshFileName=meshpath + disk_inside_stl,
valueType='pressureGrowth',
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