Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Apply SOFA PR 4750 changes #146

Open
wants to merge 4 commits into
base: master
Choose a base branch
from
Open

Apply SOFA PR 4750 changes #146

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
35ebe4e
apply data name change
bakpaul Dec 10, 2024
c98c3c0
Fix compilation of HyperReducedRestShapeSpringsForceField
bakpaul Dec 10, 2024
d2810b2
Add usage of fixAll
bakpaul Dec 10, 2024
b8fb227
Clean header
bakpaul Dec 11, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions examples/organs/liver/liverFineHyperElastic.pyscn
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,8 +45,8 @@ def createScene(rootNode):
liver.addObject('TetrahedronHyperelasticityFEMForceField',materialName="NeoHookean", ParameterSet=str(mu_) + " " + str(k0_), AnisotropyDirections="")


liver.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = '1e8')
liver.addObject('RestShapeSpringsForceField' , external_points = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], points = '@boxROIactuation.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState')
liver.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness = '1e8')
liver.addObject('RestShapeSpringsForceField' , externalIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], points = '@boxROIactuation.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState')

visu = liver.addChild('visu')
visu.addObject( 'MeshOBJLoader', name= 'loader', filename=meshPath+'liver-smoothUV.obj')
Expand Down
2 changes: 1 addition & 1 deletion examples/organs/liver/liverFine_gravity.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ def createScene(rootNode):

liver.addObject('UniformMass', totalMass=0.3)
liver.addObject('TetrahedronFEMForceField', poissonRatio="0.3", youngModulus="5000")
liver.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = '1e8')
liver.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness = '1e8')

# Add a visual model
visu = liver.addChild('visu')
Expand Down
4 changes: 2 additions & 2 deletions examples/organs/liver/liverFine_rotationalActuation.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ def createScene(rootNode):

liver.addObject('UniformMass', totalMass=0.3)
liver.addObject('TetrahedronFEMForceField', poissonRatio="0.3", youngModulus="5000")
liver.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = '1e8')
liver.addObject('RestShapeSpringsForceField' , external_points = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], points = '@boxROIactuation.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState')
liver.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness = '1e8')
liver.addObject('RestShapeSpringsForceField' , externalIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], indices = '@boxROIactuation.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState')

visu = liver.addChild('visu')
visu.addObject( 'MeshOBJLoader', name= 'loader', filename=meshPath+'liver-smoothUV.obj')
Expand Down
4 changes: 2 additions & 2 deletions examples/organs/liver/reduced/liver/reduced_liverFine.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,8 @@ def Reduced_test(
liver.addObject('BoxROI' , name= 'boxROIactuation' , orientedBox= newBox([[-5.0, 0.5, -0.5], [-5.0, 0.0, -0.5], [-4.0, 0.0, -0.5]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 0.5],scale) + multiply(scale[2],[1.0]).tolist(),drawBoxes=True)
liver.addObject('UniformMass' , totalMass = 0.3)
liver.addObject('HyperReducedTetrahedronFEMForceField' , poissonRatio = '0.3', youngModulus = '5000', name = 'reducedFF_liver_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_0_RID.txt', weightsPath = path + r'/data/reducedFF_liver_0_weight.txt')
liver.addObject('HyperReducedRestShapeSpringsForceField' , points = '@ROI1.indices', stiffness = '1e8', name = 'reducedFF_liver_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_1_RID.txt', weightsPath = path + r'/data/reducedFF_liver_1_weight.txt')
liver.addObject('HyperReducedRestShapeSpringsForceField' , external_points = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], points = '@boxROIactuation.indices', name = 'reducedFF_liver_2', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_2_RID.txt', weightsPath = path + r'/data/reducedFF_liver_2_weight.txt')
liver.addObject('HyperReducedRestShapeSpringsForceField' , indices = '@ROI1.indices', stiffness = '1e8', name = 'reducedFF_liver_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_1_RID.txt', weightsPath = path + r'/data/reducedFF_liver_1_weight.txt')
liver.addObject('HyperReducedRestShapeSpringsForceField' , externalIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], indices = '@boxROIactuation.indices', name = 'reducedFF_liver_2', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_2_RID.txt', weightsPath = path + r'/data/reducedFF_liver_2_weight.txt')
liver.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./MechanicalObject')


Expand Down
4 changes: 2 additions & 2 deletions examples/organs/liver/reduced/liver_hyperElastic/reduced_liverFineHyperElastic.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,8 @@ def Reduced_test(
liver.addObject('BoxROI' , name= 'boxROIactuation' , orientedBox= newBox([[-5.0, 0.5, -0.5], [-5.0, 0.0, -0.5], [-4.0, 0.0, -0.5]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 0.5],scale) + multiply(scale[2],[1.0]).tolist(),drawBoxes=True)
liver.addObject('UniformMass' , totalMass = 0.3)
liver.addObject('HyperReducedTetrahedronHyperelasticityFEMForceField' , materialName = 'NeoHookean', ParameterSet = '1923.076923076923 4166.666666666666', AnisotropyDirections = '', name = 'reducedFF_liver_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_0_RID.txt', weightsPath = path + r'/data/reducedFF_liver_0_weight.txt')
liver.addObject('HyperReducedRestShapeSpringsForceField' , points = '@ROI1.indices', stiffness = '1e8', name = 'reducedFF_liver_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_1_RID.txt', weightsPath = path + r'/data/reducedFF_liver_1_weight.txt')
liver.addObject('HyperReducedRestShapeSpringsForceField' , external_points = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], points = '@boxROIactuation.indices', name = 'reducedFF_liver_2', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_2_RID.txt', weightsPath = path + r'/data/reducedFF_liver_2_weight.txt')
liver.addObject('HyperReducedRestShapeSpringsForceField' , indices = '@ROI1.indices', stiffness = '1e8', name = 'reducedFF_liver_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_1_RID.txt', weightsPath = path + r'/data/reducedFF_liver_1_weight.txt')
liver.addObject('HyperReducedRestShapeSpringsForceField' , externalIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], indices = '@boxROIactuation.indices', name = 'reducedFF_liver_2', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_2_RID.txt', weightsPath = path + r'/data/reducedFF_liver_2_weight.txt')
liver.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./MechanicalObject')


Expand Down
2 changes: 1 addition & 1 deletion examples/others/hexaBeam/hexaBeam.pyscn
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ def createScene(rootNode):
M1.addObject('MechanicalObject')
M1.addObject('UniformMass', totalMass="0.1")
M1.addObject('RegularGridTopology', nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19")
M1.addObject('RestShapeSpringsForceField', points="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15", stiffness=1e12)
M1.addObject('RestShapeSpringsForceField', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15", stiffness=1e12)
M1.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large")
M1.addObject('GenericConstraintCorrection')

Expand Down
2 changes: 1 addition & 1 deletion examples/others/hexaBeam/reduced/reduced_hexaBeam.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@ def Reduced_test(
M1.addObject('MechanicalObject')
M1.addObject('UniformMass' , totalMass = '0.1')
M1.addObject('RegularGridTopology' , nx = '4', ny = '4', nz = '20', xmin = '-9', xmax = '-6', ymin = '0', ymax = '3', zmin = '0', zmax = '19')
M1.addObject('HyperReducedRestShapeSpringsForceField' , points = '0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15', stiffness = 1000000000000.0, name = 'reducedFF_M1_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_M1_0_RID.txt', weightsPath = path + r'/data/reducedFF_M1_0_weight.txt')
M1.addObject('HyperReducedRestShapeSpringsForceField' , indices = '0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15', stiffness = 1000000000000.0, name = 'reducedFF_M1_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_M1_0_RID.txt', weightsPath = path + r'/data/reducedFF_M1_0_weight.txt')
M1.addObject('HyperReducedHexahedronFEMForceField' , name = 'reducedFF_M1_1', youngModulus = '4000', poissonRatio = '0.3', method = 'large', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_M1_1_RID.txt', weightsPath = path + r'/data/reducedFF_M1_1_weight.txt')
M1.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./MechanicalObject')

Expand Down
2 changes: 1 addition & 1 deletion examples/softRobots/diamond/reduced/diamond/reduced_diamondRobot.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ def Reduced_test(

FixedBox = modelNode.addChild('FixedBox')
FixedBox.addObject('BoxROI' , name= 'BoxROI' , orientedBox= newBox([[-15, 15, -40], [-15, -15, -40], [15, -15, -40]] , [0.0, 0.0, 35],translation,rotation,[0, 0, 25.0],scale) + multiply(scale[2],[50]).tolist(),drawBoxes=True)
FixedBox.addObject('HyperReducedRestShapeSpringsForceField' , points = '@BoxROI.indices', stiffness = 1000000000000.0, name = 'reducedFF_FixedBox_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_FixedBox_1_RID.txt', weightsPath = path + r'/data/reducedFF_FixedBox_1_weight.txt')
FixedBox.addObject('HyperReducedRestShapeSpringsForceField' , indices = '@BoxROI.indices', stiffness = 1000000000000.0, name = 'reducedFF_FixedBox_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_FixedBox_1_RID.txt', weightsPath = path + r'/data/reducedFF_FixedBox_1_weight.txt')


north = modelNode.addChild('north')
Expand Down
2 changes: 1 addition & 1 deletion examples/softRobots/diamond/reduced/diamond_hyperElastic/reduced_diamondRobotHyperElastic.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ def Reduced_test(

FixedBox = modelNode.addChild('FixedBox')
FixedBox.addObject('BoxROI' , name= 'BoxROI' , orientedBox= newBox([[-15, 15, -40], [-15, -15, -40], [15, -15, -40]] , [0.0, 0.0, 35],translation,rotation,[0, 0, 25.0],scale) + multiply(scale[2],[50]).tolist(),drawBoxes=True)
FixedBox.addObject('HyperReducedRestShapeSpringsForceField' , points = '@BoxROI.indices', stiffness = 1000000000000.0, name = 'reducedFF_FixedBox_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_FixedBox_1_RID.txt', weightsPath = path + r'/data/reducedFF_FixedBox_1_weight.txt')
FixedBox.addObject('HyperReducedRestShapeSpringsForceField' , indices = '@BoxROI.indices', stiffness = 1000000000000.0, name = 'reducedFF_FixedBox_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_FixedBox_1_RID.txt', weightsPath = path + r'/data/reducedFF_FixedBox_1_weight.txt')


north = modelNode.addChild('north')
Expand Down
2 changes: 1 addition & 1 deletion examples/softRobots/finger/finger.pyscn
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ def createScene(rootNode):

# RestShapeSpringsForceField is one way in Sofa to implement fixed point constraint.
# Here the constraints are applied to the DoFs selected by the previously defined BoxROI
finger.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness=1e12)

##########################################
# Cable #
Expand Down
2 changes: 1 addition & 1 deletion examples/softRobots/finger/reduced/reduced_finger.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,7 @@ def Reduced_test(
finger.addObject('UniformMass' , totalMass = 0.05)
finger.addObject('HyperReducedTetrahedronFEMForceField' , poissonRatio = '0.45', youngModulus = '600', name = 'reducedFF_finger_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_finger_0_RID.txt', weightsPath = path + r'/data/reducedFF_finger_0_weight.txt')
finger.addObject('BoxROI' , name= 'ROI1' , orientedBox= newBox([[-15, 10, 0], [-15, 0, 0], [5, 0, 0]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 7.5],scale) + multiply(scale[2],[15]).tolist(),drawBoxes=True)
finger.addObject('HyperReducedRestShapeSpringsForceField' , points = '@ROI1.indices', stiffness = 1000000000000.0, name = 'reducedFF_finger_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_finger_1_RID.txt', weightsPath = path + r'/data/reducedFF_finger_1_weight.txt')
finger.addObject('HyperReducedRestShapeSpringsForceField' , indices = '@ROI1.indices', stiffness = 1000000000000.0, name = 'reducedFF_finger_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_finger_1_RID.txt', weightsPath = path + r'/data/reducedFF_finger_1_weight.txt')
finger.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./MechanicalObject')


Expand Down
4 changes: 2 additions & 2 deletions examples/softRobots/sofiaLeg/reduced/reduced_sofiaLeg.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,10 +76,10 @@ def Reduced_SofiaLeg(
SofiaLeg.addObject('UniformMass' , totalMass = 0.01)
SofiaLeg.addObject('HyperReducedTetrahedronFEMForceField' , youngModulus = 300, poissonRatio = 0.45, name = 'reducedFF_SofiaLeg_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_SofiaLeg_0_RID.txt', weightsPath = path + r'/data/reducedFF_SofiaLeg_0_weight.txt')
SofiaLeg.addObject('BoxROI' , name = 'boxROITop', orientedBox = [[-12.0, 53.0, 0.0], [12.0, 53.0, 0.0], [12.0, 64.0, 0.0], 16.0], drawBoxes = True)
SofiaLeg.addObject('HyperReducedRestShapeSpringsForceField' , name = 'reducedFF_SofiaLeg_1', points = '@boxROITop.indices', stiffness = '1e8', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_SofiaLeg_1_RID.txt', weightsPath = path + r'/data/reducedFF_SofiaLeg_1_weight.txt')
SofiaLeg.addObject('HyperReducedRestShapeSpringsForceField' , name = 'reducedFF_SofiaLeg_1', indices = '@boxROITop.indices', stiffness = '1e8', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_SofiaLeg_1_RID.txt', weightsPath = path + r'/data/reducedFF_SofiaLeg_1_weight.txt')
SofiaLeg.addObject('BoxROI' , name = 'boxROICollision', orientedBox = [[-25.0, -41.0, -7.0], [25.0, -42.0, -7.0], [25.0, -39.0, -7.0], 2.0, [-25.0, -42.0, 7.0], [25.0, -42.0, 7.0], [25.0, -39.0, 7.0], 2.0], drawPoints = '0', computeEdges = '0', computeTriangles = '0', computeTetrahedra = '0', computeHexahedra = '0', computeQuad = '0', drawSize = 5, drawBoxes = True)
SofiaLeg.addObject('BoxROI' , name = 'boxROIMiddle', orientedBox = [[-2.5, -8.5, 0.0], [2.5, -8.5, 0.0], [2.5, -3.5, 0.0], 18.0], drawBoxes = True)
SofiaLeg.addObject('HyperReducedRestShapeSpringsForceField' , external_points = [0, 1, 2], points = '@boxROIMiddle.indices', name = 'reducedFF_SofiaLeg_2', stiffness = '1e8', external_rest_shape = '@../../SofiaLeg_actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_SofiaLeg_2_RID.txt', weightsPath = path + r'/data/reducedFF_SofiaLeg_2_weight.txt')
SofiaLeg.addObject('HyperReducedRestShapeSpringsForceField' , externalIndices = [0, 1, 2], indices = '@boxROIMiddle.indices', name = 'reducedFF_SofiaLeg_2', stiffness = '1e8', external_rest_shape = '@../../SofiaLeg_actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_SofiaLeg_2_RID.txt', weightsPath = path + r'/data/reducedFF_SofiaLeg_2_weight.txt')
SofiaLeg.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./tetras')


Expand Down
4 changes: 2 additions & 2 deletions examples/softRobots/sofiaLeg/sofiaLeg.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@ def SofiaLeg(

#To fix the Top part of the leg
leg.addObject('BoxROI' , name= 'boxROITop' , orientedBox= newBox([[-12.0, 53.0, 0], [12.0, 53.0, 0], [12.0, 64.0, 0]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 0.0],scale) + multiply(scale[2],[16.0]).tolist(),drawBoxes=True)
leg.addObject('RestShapeSpringsForceField', name = 'fixedTopForceField', points = '@boxROITop.indices', stiffness = '1e8')
leg.addObject('RestShapeSpringsForceField', name = 'fixedTopForceField', indices = '@boxROITop.indices', stiffness = '1e8')

#Box to add collisions only on the tip of the leg
leg.addObject('BoxROI', name='boxROICollision', orientedBox= newBox(
Expand All @@ -87,7 +87,7 @@ def SofiaLeg(

#To Actuate our leg we select some elements in the middle of our leg, add a Spring to them, then add an external_rest_shape that will allow us
leg.addObject('BoxROI' , name= 'boxROIMiddle' , orientedBox= newBox([[-2.5, -8.5, 0], [2.5, -8.5, 0], [2.5, -3.5, 0]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 0.0],scale) + multiply(scale[2],[18.0]).tolist(),drawBoxes=True)
leg.addObject('RestShapeSpringsForceField' , external_points =[i for i in range(3)], points = '@boxROIMiddle.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@../'+name+'_actuator/actuatorState')
leg.addObject('RestShapeSpringsForceField' , externalIndices =[i for i in range(3)], indices = '@boxROIMiddle.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@../'+name+'_actuator/actuatorState')

SofiaLeg_actuator = attachedTo.addChild(name+'_actuator')
SofiaLeg_actuator.addObject('MechanicalObject' , name = 'actuatorState', position = '@../'+name+'/boxROIMiddle.pointsInROI', template = 'Vec3d', showObject = True, showObjectScale=5)
Expand Down
Loading
Loading