update python prefabs

examples/python3/cosserat/CosseratBase.py

@@ -146,7 +146,9 @@ def _addRigidBaseNode(self):
             template="Rigid3d",
             name="RigidBaseMO",
             showObjectScale=0.2,
-            position=positions
+            position=positions,
+            translation=self.translation,
+            rotation=self.rotation
         )
         rigidBaseNodeMo.showObject.setParent(self.showObject)
 
@@ -226,8 +228,8 @@ def _addCosseratFrame(self, framesF, curv_abs_inputS, curv_abs_outputF):
             template="Rigid3d",
             name="FramesMO",
             position=framesF,
-            showIndices=self.params.beamGeoParams.showFramesObject,
-            showObject=self.params.beamGeoParams.showFramesObject,
+            showIndices=self.params.beamGeoParams.show_frames_indices,
+            showObject=self.params.beamGeoParams.show_frames_object,
             showObjectScale=1.8,  # Todo: remove this hard code
         )
 

examples/python3/useful/geometry.py

@@ -67,7 +67,7 @@ def calculate_frame_parameters(beamGeoParams):
     return frames_f, curv_abs_output_f, cable_position_f
 
 
-def generate_edge_list(cable3DPos: List[List[float]]) -> List[int]:
+def generate_edge_list(cable3DPos: List[List[float]]) -> list[list[int]]:
     """
     Generate an edge list required in the EdgeSetTopologyContainer component.
 
@@ -78,7 +78,11 @@ def generate_edge_list(cable3DPos: List[List[float]]) -> List[int]:
         List[int]: A list of indices forming edges in the EdgeSetTopologyContainer.
     """
     number_of_points = len(cable3DPos)
-    return [i for i in range(number_of_points - 1) for _ in range(2)]
+    edges = []
+    for i in range(number_of_points - 1):
+        edges.append([i,i+1])
+    return edges
+
 
 
 class CosseratGeometry:

examples/python3/useful/header.py

@@ -17,7 +17,7 @@
 import os
 
 
-def addHeader(parentNode, multithreading=False, inverse=False, isConstrained=False, isContact=False):
+def addHeader(parentNode, multithreading=False, inverse=False, isConstrained=False, isContact=False, params=None):
     """
     Adds to rootNode the default headers for a simulation with contact. Also adds and returns three nodes:
         - Settings
@@ -68,7 +68,7 @@ def addHeader(parentNode, multithreading=False, inverse=False, isConstrained=Fal
 
     parentNode.addObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels showCollisionModels '
                                                      'hideBoundingCollisionModels hideForceFields '
-                                                     'hideInteractionForceFields hideWireframe showMechanicalMappings')
+                                                     'showInteractionForceFields hideWireframe showMechanicalMappings')
     if isConstrained:
         parentNode.addObject('FreeMotionAnimationLoop', parallelCollisionDetectionAndFreeMotion=multithreading,
                              parallelODESolving=multithreading)
@@ -78,20 +78,26 @@ def addHeader(parentNode, multithreading=False, inverse=False, isConstrained=Fal
                                  multithreading=multithreading, epsilon=1)
         else:
             parentNode.addObject('GenericConstraintSolver', name='ConstraintSolver', tolerance=1e-8, maxIterations=100,
-                                 multithreading=multithreading)
+                                 multithreading=multithreading, printLog=1)
 
     if isContact:
-        contactHeader(parentNode)
+        contactHeader(parentNode, _contact_params=params.contactParams)
 
 
 # components needed for contact modeling
-def contactHeader(parentNode):
+def contactHeader(parentNode, _contact_params=None):
     parentNode.addObject('CollisionPipeline')
     parentNode.addObject("DefaultVisualManagerLoop")
-    parentNode.addObject('RuleBasedContactManager', responseParams='mu=0.8', response='FrictionContactConstraint')
     parentNode.addObject('BruteForceBroadPhase')
     parentNode.addObject('BVHNarrowPhase')
-    parentNode.addObject('LocalMinDistance', alarmDistance=0.05, contactDistance=0.01)
+    if not _contact_params == None:
+        parentNode.addObject('RuleBasedContactManager', responseParams=_contact_params.responseParams,
+                             response='FrictionContactConstraint')
+        parentNode.addObject('LocalMinDistance',  alarmDistance=_contact_params.alarmDistance,
+                             contactDistance=_contact_params.contactDistance)
+    else :
+        parentNode.addObject('RuleBasedContactManager', responseParams='mu=0.1', response='FrictionContactConstraint')
+        parentNode.addObject('LocalMinDistance',  alarmDistance=0.05, contactDistance=0.01)
 
 
 def addVisual(node):
@@ -105,7 +111,7 @@ def addVisual(node):
     """
     node.addObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels hideCollisionModels '
                                                'hideBoundingCollisionModels hideForceFields '
-                                               'hideInteractionForceFields hideWireframe showMechanicalMappings')
+                                               'showInteractionForceFields hideWireframe showMechanicalMappings')
     return node
 
 
@@ -134,7 +140,7 @@ def addSolverNode(node, name='solverNode', template='CompressedRowSparseMatrixd'
     if iterative:
         solverNode.addObject('CGLinearSolver', name='Solver', template=template)
     else:
-        solverNode.addObject('SparseLDLSolver', name='Solver', template=template)
+        solverNode.addObject('SparseLDLSolver', name='Solver', template=template, printLog=True)
     if isConstrained:
         solverNode.addObject('GenericConstraintCorrection', linearSolver=solverNode.Solver.getLinkPath())
 

examples/python3/useful/params.py

@@ -18,7 +18,8 @@ class BeamGeometryParameters:
     )  # The beam rigid base position as a list [x, y, z]
 
     """Parameters for the visualisation of the beam"""
-    showFramesObject: int = 1
+    show_frames_object: bool = True
+    show_frames_indices: bool = False
     showRigidBaseObject: int = 1
 
 
@@ -71,7 +72,7 @@ class VisualParameters:
 class ContactParameters:
     """Contact parameters"""
 
-    responseParams: str = "mu=0.8"
+    responseParams: str = "mu=0.0"
     response: str = "FrictionContactConstraint"
     alarmDistance: float = 0.05
     contactDistance: float = 0.01

src/Cosserat/constraint/CosseratActuatorConstraint.h

@@ -47,6 +47,7 @@ using sofa::core::ConstraintParams;
 using sofa::linearalgebra::BaseVector;
 using sofa::core::visual::VisualParams ;
 using sofa::core::behavior::ConstraintResolution;
+using softrobots::constraint::CableModel;
 
 
 class MyCableForceConstraintResolution : public ConstraintResolution
@@ -114,7 +115,7 @@ class MyCableForceConstraintResolution : public ConstraintResolution
  *
 */
 template< class DataTypes >
-class CosseratActuatorConstraint : public softrobots::constraint::CableModel<DataTypes>
+class CosseratActuatorConstraint : public CableModel<DataTypes>
 {
 public:
     SOFA_CLASS(SOFA_TEMPLATE(CosseratActuatorConstraint,DataTypes), SOFA_TEMPLATE(CableModel,DataTypes));

src/Cosserat/constraint/QPSlidingConstraint.h

@@ -48,6 +48,7 @@ using sofa::linearalgebra::BaseVector ;
 using sofa::core::ConstraintParams ;
 using sofa::helper::ReadAccessor ;
 using sofa::core::VecCoordId ;
+using softrobots::constraint::CableModel;
 
 using sofa::core::behavior::ConstraintResolution ;
 //using sofa::component::constraint::lagrangian::model::ConstraintResolution;
@@ -145,7 +146,7 @@ class QPSlidingConstraint : public softrobots::constraint::CableModel<DataTypes>
     /// Bring m_state in the current lookup context.
     /// otherwise any access to the base::attribute would require
     /// using the "this->" approach.
-    using SoftRobotsConstraint<DataTypes>::m_state ;
+    using softrobots::constraint::SoftRobotsConstraint<DataTypes>::m_state ;
     ////////////////////////// Inherited attributes ////////////////////////////
     /// https://gcc.gnu.org/onlinedocs/gcc/Name-lookup.html
     /// Bring inherited attributes and function in the current lookup context.
@@ -160,8 +161,8 @@ class QPSlidingConstraint : public softrobots::constraint::CableModel<DataTypes>
     using CableModel<DataTypes>::d_componentState ;
     ////////////////////////////////////////////////////////////////////////////
     /// \brief internalInit
-    using SoftRobotsConstraint<DataTypes>::m_nbLines ;
-    using SoftRobotsConstraint<DataTypes>::m_constraintIndex ;
+    using softrobots::constraint::SoftRobotsConstraint<DataTypes>::m_nbLines ;
+    using softrobots::constraint::SoftRobotsConstraint<DataTypes>::m_constraintIndex ;
 
     void internalInit();
 };