SAM.LegsOptimization/scene.py at main · SofaComplianceRobotics/SAM.LegsOptimization · GitHub

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# pyright: reportMissingImports=false, reportAttributeAccessIssue=false
# pylint: disable=import-error

# EmioLabs libraries
from parts.controllers.assemblycontroller import AssemblyController
from utils.header import addHeader, addSolvers

# Sofa Python Libraries
from splib3.animation import AnimationManager, animate

# Scene Libraries
from optimization.parameters import low_leg, high_leg, weight, mode, center_part, movements
from sparts.sam import Sam
from animation import animation
import numpy as np

def createScene(rootnode):
    _, modelling, simulation = addHeader(rootnode,
                                         inverse = True,
                                         friction = 0,
                                         withCollision = True
                                         )
    rootnode.ConstraintSolver.epsilon = 1
    rootnode.LocalMinDistance.setDataValues(
                                            # alarmDistance = center_part.hThickness,
                                            # contactDistance = center_part.hThickness/10
                                            alarmDistance = 1,
                                            contactDistance = 0.5
                                            )

    addSolvers(simulation)

    rootnode.dt = movements.dt
    rootnode.gravity = [0., -9810., 0.]
    rootnode.VisualStyle.displayFlags.value = ["showVisual",
                                               "showBehaviorModels",
                                               "showForceFields",
                                               "showWireframe",
                                               'showCollisionModels',
                                               'hideOptions']
    rootnode.addObject(AnimationManager(rootnode))

    #Leg generation
    if (not low_leg.isValid() or not high_leg.isValid()):
        rootnode.removeObject(AnimationManager(rootnode))
        return

    if (not low_leg.exportSTLCadQuery() or not high_leg.exportSTLCadQuery()):
        rootnode.removeObject(AnimationManager(rootnode))
        return

    # Add SAM to the scene
    sam = Sam(name = 'Sam',
              legs = [low_leg, high_leg]*3,
              centerpart = center_part,
              mode = mode)

    if not sam.isValid():
        rootnode.removeObject(AnimationManager(rootnode))
        return

    simulation.addChild(sam)
    sam.attachCenterPartToLegs()
    assembly = AssemblyController(sam)
    assembly.duration = 0.001
    sam.addObject(assembly)

    # Add effector
    sam.effector.addObject("MechanicalObject",
                            template = "Rigid3",
                            position = [[0, center_part.height/2, 0, 0, 0, 0, 1],
                                        [0, -center_part.height/2, 0, 0, 0, 0, 1]],
                            showObject = False)

    sam.effector.addObject("RigidMapping",
                            index = 0)

    # Target
    effectorTarget = modelling.addChild('Target')

    effectorTarget.addObject('EulerImplicitSolver',
                             firstOrder = True)

    effectorTarget.addObject('CGLinearSolver',
                             iterations = 50,
                             tolerance = 1e-10,
                             threshold = 1e-10)

    effectorTarget.addObject('MechanicalObject',
                                template = 'Rigid3',
                                position = [[0, high_leg.centerLine.endCoordinates[1]+center_part.hThickness, 0, 0, 0, 0, 1],
                                            [0, low_leg.centerLine.endCoordinates[1]-center_part.lDepth, 0, 0, 0, 0, 1]],
                                showObject = True,
                                showObjectScale = 10)

    #Sensor
    sensor = sam.CenterPart.addChild('Sensor')
    sensor.addObject('MechanicalObject',
                     position = [[0.0, center_part.height/2+20.0, 0.0]],
                     showObject = True,
                     showColor=[1,0,0,1],
                     showObjectScale = 5,
                     drawMode= 1)

    sensor.addObject("UniformMass",
                     totalMass = weight)

    sensor.addObject("RigidMapping",
                     index = 0)


    if mode == 'trial':
        sam.addInverseComponentAndGUI(targetMechaLink = effectorTarget.getMechanicalState().position.linkpath,
                                      withGUI = True)
        animate(onUpdate = animation,
                params = {'target':effectorTarget.getMechanicalState().position,
                          'initialPosition':np.copy(effectorTarget.getMechanicalState().position.value),
                          'movements':movements,
                          'height':center_part.height/2
                        },
                duration = movements.duration)

    else:
        sam.addInverseComponentAndGUI(targetMechaLink = effectorTarget.getMechanicalState().position.linkpath,
                                      orientationWeight = 0)
        sam.addConnectionComponents()

        effectorTarget.MechanicalObject.position =  [effectorTarget.MechanicalObject.position.value[0]]
        sam.effector.MechanicalObject.position = [sam.effector.MechanicalObject.position.value[0]]

        if 'EffectorCoord' in [object.name.value for object in sam.effector.objects]:
            sam.effector.EffectorCoord.indices = [0]
        if 'EffectorOrientation' in [object.name.value for object in sam.effector.objects]:
            sam.effector.EffectorOrientation.indices = [0]

    return rootnode