Merge master into pr-add-tests

.github/workflows/ci.yml

@@ -2,6 +2,9 @@ name: Cosserat-CI
 
 # Controls when the action will run. 
 on:
+  # This is used to automatically publish nightlies at UTC nighttime
+  schedule:
+    - cron: '0 2 * * *' # run at 2 AM UTC
   workflow_dispatch:
   pull_request:
   push:
@@ -14,7 +17,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-12, windows-2022]
+        os: [ubuntu-22.04, macos-14, windows-2022]
         sofa_branch: [master]
         python_version: ['3.10']
 
@@ -62,16 +65,28 @@ jobs:
             ccache -s
           fi
 
+      - name: Sanitize artifact name
+        id: sanitize
+        # This step removes special characters from the artifact name to ensure compatibility with upload-artifact
+        # Characters removed: " : < > | * ? \r \n \ /
+        # Spaces are replaced with underscores
+        # This sanitization prevents errors in artifact creation and retrieval
+        shell: pwsh
+        run: |
+          $originalName = "Cosserat_${{ steps.sofa.outputs.run_branch }}_for-SOFA-${{ steps.sofa.outputs.sofa_version }}_${{ runner.os }}"
+          $artifact_name = $originalName -replace '[":;<>|*?\r\n\\/]', '' -replace ' ', '_'
+          echo "artifact_name=$artifact_name" >> $env:GITHUB_OUTPUT
+
       - name: Create artifact
-        uses: actions/upload-artifact@v2.2.4
+        uses: actions/upload-artifact@v4.4.0
         with:
-          name: CosseratPlugin_${{ steps.sofa.outputs.run_branch }}_for-SOFA-${{ steps.sofa.outputs.sofa_version }}_${{ runner.os }}
+          name: ${{ steps.sanitize.outputs.artifact_name }}
           path: ${{ env.WORKSPACE_INSTALL_PATH }}
 
       - name: Install artifact
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v4.1.7
         with:
-          name: CosseratPlugin_${{ steps.sofa.outputs.run_branch }}_for-SOFA-${{ steps.sofa.outputs.sofa_version }}_${{ runner.os }}
+          name: ${{ steps.sanitize.outputs.artifact_name }}
           path: ${{ env.WORKSPACE_ARTIFACT_PATH }}
 
       # - name: Set env vars for tests
@@ -119,7 +134,7 @@ jobs:
       continue-on-error: true
       steps:
         - name: Get artifacts
-          uses: actions/download-artifact@v2
+          uses: actions/download-artifact@v4.1.7
           with:
             path: artifacts
 
@@ -138,6 +153,6 @@ jobs:
             fail_on_unmatched_files: false
             target_commitish: ${{ github.sha }}
             files: |
-              artifacts/CosseratPlugin_*_Linux.zip
-              artifacts/CosseratPlugin_*_Windows.zip
-              artifacts/CosseratPlugin_*_macOS.zip
+              artifacts/Cosserat_*_Linux.zip
+              artifacts/Cosserat_*_Windows.zip
+              artifacts/Cosserat_*_macOS.zip

CMakeLists.txt

@@ -11,6 +11,7 @@ sofa_find_package(Sofa.GL REQUIRED)
 sofa_find_package(Sofa.Component.Topology.Container.Dynamic REQUIRED)
 
 sofa_find_package(STLIB QUIET)
+
 if(STLIB_FOUND)
     message("-- Found dependency : 'STLIB' plugin .")
 else()
@@ -67,8 +68,12 @@ set(SOURCE_FILES
     ${SRC_ROOT_DIR}/constraint/CosseratNeedleSlidingConstraint.cpp
     )
 
+
 sofa_find_package(SoftRobots QUIET)
 if(SoftRobots_FOUND)
+    message("-- Found dependency : 'SoftRobots' plugin .")
+
+    set(COSSERAT_USES_SOFTROBOTS ON)
     list(APPEND HEADER_FILES
         ${SRC_ROOT_DIR}/constraint/CosseratActuatorConstraint.h
         ${SRC_ROOT_DIR}/constraint/CosseratActuatorConstraint.inl
@@ -81,14 +86,19 @@ if(SoftRobots_FOUND)
 
         ${SRC_ROOT_DIR}/constraint/QPSlidingConstraint.cpp
         )
+else()
+    message("-- SoftRobots dependency has not been found, some features like QPSlidingConstraint and CosseratActuatorConstraint will not be available. ")
 endif()
 
+
 file(GLOB_RECURSE RESOURCE_FILES  "*.md" "*.psl" "*.py" "*.pyscn" "*.py3scn" "*.scn" "*.ah")
 
+
 if(WIN32)
     add_definitions(-D_WINSOCKAPI_)
 endif()
 
+
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${DOC_FILES} )
 target_link_libraries(${PROJECT_NAME}
     Sofa.Component.Constraint.Lagrangian.Model
@@ -98,16 +108,15 @@ target_link_libraries(${PROJECT_NAME}
     Sofa.Component.Topology.Container.Dynamic
 )
 
+
 if(Sofa.GL_FOUND)
     target_link_libraries(${PROJECT_NAME} Sofa.GL)
 endif()
 
 if(SoftRobots_FOUND)
     target_link_libraries(${PROJECT_NAME} SoftRobots)
-    message("-- Found dependency: 'SoftRobots' plugin.")
 endif()
 
-sofa_install_pythonscripts(PLUGIN_NAME ${PROJECT_NAME} PYTHONSCRIPTS_SOURCE_DIR "python")
 
 find_file(SofaPython3Tools NAMES "SofaPython3/lib/cmake/SofaPython3/SofaPython3Tools.cmake")
 if(SofaPython3Tools)
@@ -130,7 +139,6 @@ if(SofaPython3Tools OR SofaPython3_FOUND)
 endif()
 
 
-
 ## Install rules for the library and headers; CMake package configurations files
 sofa_create_package_with_targets(
     PACKAGE_NAME ${PROJECT_NAME}
@@ -150,6 +158,7 @@ if(COSSERAT_BUILD_TESTS)
     add_subdirectory(Tests)
 endif()
 
+
 # Config files and install rules for pythons scripts
 sofa_install_pythonscripts(PLUGIN_NAME ${PROJECT_NAME} PYTHONSCRIPTS_SOURCE_DIR "examples/python3/")
 

README.md

@@ -21,9 +21,9 @@ In contrast, many other models in continuum media mechanics tend to treat materi
 When modeling linear structures, this framework enables the creation of a structure closely resembling articulated solids, consisting of a series of rigid bodies whose relative positions are defined by their strain states. 
 Consequently, this model serves as a versatile tool for modeling and controlling a variety of systems, including concentric tube robots, continuum robots driven by cables, or pneumatic soft robots with constant cross-sections.
 
-Go into theorotical part of the plugin [Theory](docs/text/Theory.md)
+Go into theorotical part of the plugin [Theory](examples/python3/tutorial/Writerside/topics/Theory.mdexamples/python3/tutorial/Writerside/topics/Theory.md)
 
-Follow the tutorial : [cosserat_tutorial](docs/text/cosserat_tutorial.md)
+Follow the tutorial : [cosserat_tutorial](tutorial/text/cosserat_tutorial.md)
 ## Some use cases
 
 
@@ -40,27 +40,27 @@ Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor i
 
 | View 1                                                                                       | View 2                                                                                       | View 3                                                                                       |
 |----------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------|
-| ![333](docs/images/multiSectionWithColorMap1.png) | ![333](docs/images/multiSectionWithColorMap2.png) | ![333](docs/images/multiSectionWithColorMap3.png) |
+| ![333](tutorial/images/multiSectionWithColorMap1.png) | ![333](tutorial/images/multiSectionWithColorMap2.png) | ![333](tutorial/images/multiSectionWithColorMap3.png) |
 
 
 ## Utilizing the Discrete Cosserat Model for Cable Modeling in Deformable Robot Control:
 
 
 | Direct simulation of a soft gripper                                                       | The study of the model convergence                                                            |
 |-------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------|
-| ![400](docs/images/cosseratgripper_2.png) | ![400](../../../../Templater/images/tenCossseratSections.png.md) |
+| ![400](tutorial/images/cosseratgripper_2.png) | ![400](tutorial/images/tenCossseratSections.png) |
 
 
 ---
 
 <strong> Actuation </strong>
 
-| <img src="/docs/images/actuationConstraint_2.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="docs/images/circleActuationConstraint.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="/docs/images/actuationConstraint_1.png" width="300" title="DCM Beam actuation using a cable"> |
+| <img src="/tutorial/images/actuationConstraint_2.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="tutorial/images/circleActuationConstraint.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="/tutorial/images/actuationConstraint_1.png" width="300" title="DCM Beam actuation using a cable"> |
 |---------------------------------------------------------------------------------------------------------------|:----------------------------------------------------------------------------------------------------------------:|--------------------------------------------------------------------------------------------------------:|
 | DCM Beam actuation using a cable ```d =```                                                                    |                                    DCM Beam actuation using a cable ```d =```                                    |                                                                  Beam actuation using a cable ```d =``` |
 
 
-| <img src="/docs/images/example1.gif" width="300" title="PCS_Example1.py "> | <img src="./docs/images/example2.gif" widt="300" title="PCS_Example2.py"> | <img src="./docs/images/example2.gif" width="300" title="PCS_Example3.PCS"> |
+| <img src="/tutorial/images/example1.gif" width="300" title="PCS_Example1.py "> | <img src="./tutorial/images/example2.gif" widt="300" title="PCS_Example2.py"> | <img src="./tutorial/images/example2.gif" width="300" title="PCS_Example3.PCS"> |
 |----------------------------------------------------------------------------|:-------------------------------------------------------------------------:|----------------------------------------------------------------------------:|
 | DCM Beam actuation using a cable ```d =```                                 |                DCM Beam actuation using a cable ```d =```                 |                                      Beam actuation using a cable ```d =``` |
 
@@ -124,21 +124,21 @@ with a constant cross-section.
 
 | View 1                                                                                      | View 2                                                                                      | View 3                                                                                      |
 |---------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------|
-| <img src="/doc/images/multiSectionWithColorMap1.png" width="300" title="DCM as an implant"> | <img src="/doc/images/multiSectionWithColorMap2.png" width="300" title="DCM as an implant"> | <img src="/doc/images/multiSectionWithColorMap3.png" width="300" title="DCM as an implant"> |
+| <img src="/tutorial/images/multiSectionWithColorMap1.png" width="300" title="DCM as an implant"> | <img src="/tutorial/images/multiSectionWithColorMap2.png" width="300" title="DCM as an implant"> | <img src="/tutorial/images/multiSectionWithColorMap3.png" width="300" title="DCM as an implant"> |
 
 ### DCM for cable modeling to control deformable robots:
 | Direct simulation of a soft gripper                                                      | The study the model convergence |
 |------------------------------------------------------------------------------------------| --- |
-| <img src="/doc/images/cosseratgripper_2.png" width="400" title="DCM for cable modeling"> | <img src="/doc/images/tenCossseratSections.png" width="400" title="DCM for cable modeling ">|
+| <img src="/tutorial/images/cosseratgripper_2.png" width="400" title="DCM for cable modeling"> | <img src="/tutorial/images/tenCossseratSections.png" width="400" title="DCM for cable modeling ">|
 
 ### Some use cases
 
-| <img src="/doc/images/actuationConstraint_2.png" width="300" title="DCM Beam actuation using a given cable">     | <img src="doc/images/circleActuationConstraint.png" width="300" title="DCM Beam actuation using a given cable">           | <img src="/doc/images/actuationConstraint_1.png" width="300" title="DCM Beam actuation using a cable">  |
+| <img src="/tutorial/images/actuationConstraint_2.png" width="300" title="DCM Beam actuation using a given cable">     | <img src="tutorial/images/circleActuationConstraint.png" width="300" title="DCM Beam actuation using a given cable">           | <img src="/tutorial/images/actuationConstraint_1.png" width="300" title="DCM Beam actuation using a cable">  |
 | ------------- |:-------------:| -----:|
 | DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =```| Beam actuation using a cable ```d =```|
 
 
-| <img src="/doc/images/example1.gif" width="300" title="PCS_Example1.py ">     | <img src="./doc/images/example2.gif" widt="300" title="PCS_Example2.py">    | <img src="./doc/images/example2.gif" width="300" title="PCS_Example3.PCS">  |
+| <img src="/tutorial/images/example1.gif" width="300" title="PCS_Example1.py ">     | <img src="./tutorial/images/example2.gif" widt="300" title="PCS_Example2.py">    | <img src="./tutorial/images/example2.gif" width="300" title="PCS_Example3.PCS">  |
 | ------------- |:-------------:| -------------:|
 | DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =```| Beam actuation using a cable ```d =```|
 

Tests/forcefield/BeamHookeLawForceFieldTest.cpp

@@ -36,20 +36,28 @@ struct BeamHookeLawForceFieldTest : public testing::NumericTest<> {
     typedef typename DataTypes::Coord Coord;
     typedef typename Coord::value_type Real;
 
+    BeamHookeLawForceFieldTest()
+    {
+        root = sofa::simpleapi::createRootNode(sofa::simulation::getSimulation(), "root");
+
+        createObject(root, "DefaultAnimationLoop");
+        createObject(root, "DefaultVisualManagerLoop");
+    }
+
 
 
     typedef sofa::component::forcefield::BeamHookeLawForceField<DataTypes> TheBeamHookeLawForceField;
 
     // Sets up the test fixture.
-    void SetUp() override {
+    void doSetUp() override {
         // initialization or some code to run before each test
         fprintf(stderr, "Starting up ! \n");
         sofa::simpleapi::importPlugin("Sofa.Component");
         sofa::simpleapi::importPlugin("Cosserat");
     }
 
     // Tears down the test fixture.
-    void TearDown() override {
+    void doTearDown() override {
         // code to run after each test;
         // can be used instead of a destructor,
         // but exceptions can be handled in this function only
@@ -109,6 +117,7 @@ struct BeamHookeLawForceFieldTest : public testing::NumericTest<> {
 template<>
 void BeamHookeLawForceFieldTest<defaulttype::Vec3Types>::testFonctionnel() {
     EXPECT_MSG_NOEMIT(Error, Warning) ;
+    ASSERT_NE(root, nullptr);
     createObject(root, "MechanicalObject", {{"position", "-1 0 1  1 0 1  -1 0 -1  1 0 -1  0 0 1  0 0 -1  -1 0 0  1 0 0  0 0 0"}});
     createObject(root, "TriangleSetTopologyContainer", {{"triangles", "7 5 8  8 2 6  4 6 0  1 8 4  7 3 5  8 5 2  4 8 6  1 7 8"}});
 
@@ -118,7 +127,7 @@ void BeamHookeLawForceFieldTest<defaulttype::Vec3Types>::testFonctionnel() {
                                                           {"lengthY", "35e-5"},
                                                           {"lengthZ", "1374e-5"},
                                                           {"radius", "0.25"},
-                                                          {"varianteSections", "true"}}).get()
+                                                          {"variantSections", "true"}}).get()
     );
 
     EXPECT_NE(traction, nullptr);
@@ -161,7 +170,7 @@ void BeamHookeLawForceFieldTest<defaulttype::Vec3Types>::basicAttributesTest(){
     /// This list needs to be updated if you add an attribute.
     sofa::type::vector<std::string> attrnames = {
             "crossSectionShape","youngModulus","poissonRatio","length", "radius",
-            "innerRadius", "lengthY", "lengthZ", "varianteSections", "youngModululsList", "poissonRatioList"
+            "innerRadius", "lengthY", "lengthZ", "variantSections", "youngModulusList", "poissonRatioList"
     };
 
     for(auto& attrname : attrnames)
@@ -190,7 +199,7 @@ TYPED_TEST( BeamHookeLawForceFieldTest , basicAttributesTest )
     ASSERT_NO_THROW (this->basicAttributesTest());
 }
 
-TYPED_TEST(BeamHookeLawForceFieldTest, testFonctionnel) {
+TYPED_TEST(BeamHookeLawForceFieldTest, DISABLED_testFonctionnel) {
         ASSERT_NO_THROW (this->testFonctionnel());
 }