From 65960d04f32122b336843ac8521c49d2533a8f3d Mon Sep 17 00:00:00 2001
From: Alex Bilger <alxbilger@users.noreply.github.com>
Date: Fri, 29 Nov 2024 17:31:29 +0100
Subject: [PATCH] fix scene nonLinearCosserat.py (#137)

---
 examples/python3/cosserat/nonLinearCosserat.py | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/examples/python3/cosserat/nonLinearCosserat.py b/examples/python3/cosserat/nonLinearCosserat.py
index 901bb273..90e3022e 100644
--- a/examples/python3/cosserat/nonLinearCosserat.py
+++ b/examples/python3/cosserat/nonLinearCosserat.py
@@ -51,7 +51,7 @@ class NonLinearCosserat(Sofa.Prefab):
                     Cosserat Mapping  //  it allow the transfer from the local to the global frame
             }
     """
-    properties = [
+    prefabParameters = [
         {'name': 'name', 'type': 'string', 'help': 'Node name', 'default': 'Cosserat'},
         {'name': 'position', 'type': 'Rigid3d::VecCoord', 'help': 'Cosserat base position',
          'default': [[0., 0., 0., 0, 0, 0, 1.]]},
@@ -67,7 +67,7 @@ class NonLinearCosserat(Sofa.Prefab):
          'default': 0.0},
         {'name': 'attachingToLink', 'type': 'string', 'help': 'a rest shape force field will constraint the object '
                                                               'to follow arm position', 'default': '1'},
-        {'name': 'showObject', 'type': 'string', 'help': ' Draw object arrow ', 'default': '0'}]
+        {'name': 'showObject', 'type': 'string', 'help': ' Draw object arrow ', 'default': '1'}]
 
     def __init__(self, *args, **kwargs):
         Sofa.Prefab.__init__(self, *args, **kwargs)
@@ -193,11 +193,11 @@ def addCosseratFrame(self, framesF, curv_abs_inputS, curv_abs_outputF):
 
 def createScene(rootNode):
     rootNode.addObject('RequiredPlugin', name='plugins', pluginName=[pluginList,
-                                                                     ['SofaEngine', 'SofaLoader', 'SofaSimpleFem',
-                                                                      'SofaExporter']])
+                                                                     ['Sofa.Component.Visual']])
     rootNode.addObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels hideCollisionModels '
-                                                   'hideBoundingCollisionModels hireForceFields '
+                                                   'hideBoundingCollisionModels hideForceFields '
                                                    'hideInteractionForceFields hideWireframe')
+    rootNode.addObject('DefaultAnimationLoop')
     rootNode.findData('dt').value = 0.01
     # rootNode.findData('gravity').value = [0., -9.81, 0.]
     rootNode.findData('gravity').value = [0., 0., 0.]
@@ -213,12 +213,11 @@ def createScene(rootNode):
     # solverNode.addObject('CGLinearSolver', tolerance=1.e-12, iterations=1000, threshold=1.e-18)
 
     needCollisionModel = 0  # use this if the collision model if the beam will interact with another object
-    nonLinearCosserat = solverNode.addChild(
-        NonLinearCosserat(parent=solverNode, cosseratGeometry=nonLinearConfig, useCollisionModel=needCollisionModel,
-                          name="cosserat", radius=0.1, legendreControlPoints=initialStrain, order=3))
+    nonLinearCosserat = NonLinearCosserat(parent=solverNode, cosseratGeometry=nonLinearConfig,
+        useCollisionModel=needCollisionModel, name="cosserat", radius=0.1, legendreControlPoints=initialStrain, order=3)
 
     beamFrame = nonLinearCosserat.cosseratFrame
     beamFrame.addObject('ConstantForceField', name='constForce', showArrowSize=1.e-8, indices=12,
-                        force=[0., 0., 0., 0., 0., 450.])
+                        forces=[0., 0., 0., 0., 0., 450.])
 
     return rootNode