Revamped ISIR robot scene with enhanced functionality. The discs are …

…now seamlessly attached to the central rod of the robot using the RigidMapping. The scene has been updated to utilize the newly implemented python class for cosserat beams, , which takes advantage of dataclasses for improved data handling and organization.

examples/python3/actuators/example1.py

@@ -1,18 +1,15 @@
 # -*- coding: utf-8 -*-
 """
-    Cosserat class in SofaPython3.
+    Scene robot ISIR.
 """
-
-
 __authors__ = "Yinoussa"
 __contact__ = "adagolodjo@protonmail.com"
 __version__ = "1.0.0"
 __copyright__ = "(c) 2021,Inria"
 __date__ = "July, 20 2023"
 
-from useful.header import addHeader
+from useful.header import addHeader, addSolverNode
 from useful.params import BeamPhysicsParameters, BeamGeometryParameters, SimulationParameters
-from cosserat.cosseratObject import Cosserat
 from useful.params import Parameters
 from cosserat.CosseratBase import CosseratBase
 
@@ -47,23 +44,19 @@
 # [@info] ================ Unit: N, cm, g, Pa  ================
 """
 
-
-
-# @todo use CableGeometryParameters & CableParameters in Cosserat class for both geometry and physics parameters
-geoParams = BeamGeometryParameters(init_pos=[0., 0., 0.], beamLength=65.5,
-                                    nbSection=5, nbFrames=30, buildCollisionModel=0)
-physicsParams = BeamPhysicsParameters(beamMass=1., youngModulus= 1.0e8, poissonRatio=0.38, beamRadius=6.2e-1/2.,
+# @todo
+geoParams = BeamGeometryParameters(init_pos=[0., 0., 0.], beamLength=65.5, showFramesObject=1,
+                                    nbSection=5, nbFrames=26, buildCollisionModel=0)
+physicsParams = BeamPhysicsParameters(beamMass=5., youngModulus= 1.0e8, poissonRatio=0.38, beamRadius=6.2e-1/2.,
                                       beamLength=65.5)
 simuParams = SimulationParameters(rayleighStiffness=1.e-3)
-
-isCollisionModel = 0
-
+Params = Parameters(beamGeoParams=geoParams, beamPhysicsParams=physicsParams, simuParams=simuParams)
 
 
-def createIntermediateNode(parent, rigidCentral=None, baseName="rigidState"):
+def createIntermediateNode(parent, rigidCentral=None, baseName="rigidState",rigidIndex=2):
     """ The intermediateRigid construction """
     if rigidCentral is None:
-        rigidCentral = [3, 0., 0, 0, 0, 0, 1]
+        rigidCentral = [0, 0., 0, 0, 0, 0, 1]
     q0 = Quat()
     q1 = Quat()
     q2 = Quat()
@@ -74,15 +67,15 @@ def createIntermediateNode(parent, rigidCentral=None, baseName="rigidState"):
     intermediateRigid = parent.addChild('intermediateRigid')
     intermediateRigid.addObject('MechanicalObject', name=baseName, template='Rigid3d',
                                                       position=rigidCentral, showObject=True, showObjectScale=0.4)
-    intermediateRigid.addObject('RestShapeSpringsForceField', name='rigid', stiffness=1.e1, template="Rigid3d",
-                                angularStiffness=1.e1, external_points=0, points=0)
+    # @TODO add the mass of the disk
+    intermediateRigid.addObject('RigidMapping', name="interRigidMap", index=rigidIndex)
+
     """Create intermediate kids"""
     interRigidChild = intermediateRigid.addChild('interRigidChild')
     interRigidChild.addObject('MechanicalObject', name="interRigidChildMo", template='Rigid3d',
                               position=interChildPos, showObject=True, showObjectScale=0.4)
     interRigidChild.addObject('RigidMapping', name="interRigidMap")
 
-
     """ Add disk to the scene, actually this disk is only use for the visualisation """
     loadDisk(intermediateRigid)
 
@@ -96,34 +89,27 @@ def loadDisk(parentNode):
     diskMapping.addObject('RigidMapping', name="diskMap")
 
 
-def createRigidDisk(rootNode, length=65.5): # @todo add a parameter for the number of disk
-    diskSolverNode = rootNode.addChild('diskSolverNode')
-    diskSolverNode.addObject('EulerImplicitSolver', firstOrder=0, rayleighStiffness=0.01, rayleighMass=0.)
-    diskSolverNode.addObject('SparseLDLSolver', name='solver')
-
+def createRigidDisk(parentNode): # @todo add a parameter for the number of disk
+    """ Create the rigid disk nodes """
     for i in range(1, 14):
         """ Create the rigid disk nodes """
-        createIntermediateNode(diskSolverNode, rigidCentral=[i*(length/13.), 0., 0, 0, 0, 0, 1], baseName=f"rigidState{i}")
-
-    # """ The intermediateRigid construction """
-    # intermediateRigid = createIntermediateNode(diskSolverNode)
-    return diskSolverNode
-
+        createIntermediateNode(parentNode, rigidCentral=[0, 0., 0, 0, 0, 0, 1],
+                               baseName=f"rigidState{i}", rigidIndex=i*2)
 
-Params = Parameters(beamGeoParams=geoParams, beamPhysicsParams=physicsParams, simuParams=simuParams)
 
 def createScene(rootNode):
     addHeader(rootNode)
     rootNode.gravity = [0., -9.81, 0.]
-    stemNode = rootNode.addChild('stemNode')
 
-    stemNode.addChild(CosseratBase(parent=stemNode, params=Params))
-        # Cosserat(parent=stemNode, cosseratGeometry=nonLinearConfig, inertialParams=inertialParams, radius=Rb,
-        #          useCollisionModel=isCollisionModel, name="cosserat", youngModulus=YM, poissonRatio=PR,
-        #          rayleighStiffness=rayleighStiffness))
+    stemNode = addSolverNode(rootNode, name="stemNode")
+    cosserat = stemNode.addChild(CosseratBase(parent=stemNode, params=Params))
 
     # create the rigid disk node
-    # createRigidDisk(rootNode)
+    createRigidDisk(cosserat.cosseratFrame)
+    return
+
+
+
 
 
 

examples/python3/cosserat/CosseratBase.py

@@ -144,23 +144,29 @@ def _addCosseratCoordinate(self, bendingStates, listOfSectionsLength):
 
     # TODO Rename this here and in `addCosseratCoordinate`
     def _extracted_from_addCosseratCoordinate_15(self, cosseratCoordinateNode, listOfSectionsLength):
-        GA = self.inertialParams['GA']
-        GI = self.inertialParams['GI']
-        EA = self.inertialParams['EA']
-        EI = self.inertialParams['EI']
-        print(f'{GA}')
-        cosseratCoordinateNode.addObject('BeamHookeLawForceField', crossSectionShape=self.shape.value,
-                                         length=listOfSectionsLength, radius=self.radius, useInertiaParams=True,
-                                         GI=GI, GA=GA, EI=EI, EA=EA, rayleighStiffness=self.rayleighStiffness.value,
-                                         lengthY=self.length_Y.value, lengthZ=self.length_Z.value)
+        GA = self.params.beamPhysicsParams.GA
+        GI = self.params.beamPhysicsParams.GI
+        EA = self.params.beamPhysicsParams.EA
+        EI = self.params.beamPhysicsParams.EI
+        cosseratCoordinateNode.addObject('BeamHookeLawForceField',
+                                         crossSectionShape=self.params.beamPhysicsParams.beamShape,
+                                         length=listOfSectionsLength,
+                                         radius=self.params.beamPhysicsParams.beamRadius,
+                                         useInertiaParams=True,
+                                         GI=GI, GA=GA, EI=EI, EA=EA,
+                                         rayleighStiffness=self.rayleighStiffness.value,
+                                         lengthY=self.params.beamPhysicsParams.length_Y,
+                                         lengthZ=self.params.beamPhysicsParams.length_Z)
 
     def _addCosseratFrame(self, framesF, curv_abs_inputS, curv_abs_outputF):
 
         cosseratInSofaFrameNode = self.rigidBaseNode.addChild(
             'cosseratInSofaFrameNode')
         self.cosseratCoordinateNode.addChild(cosseratInSofaFrameNode)
         framesMO = cosseratInSofaFrameNode.addObject(
-            'MechanicalObject', template='Rigid3d', name="FramesMO", position=framesF, showObject=1, showObjectScale=0.001)
+            'MechanicalObject', template='Rigid3d', name="FramesMO", position=framesF,
+            showIndices=self.params.beamGeoParams.showFramesObject,
+            showObject=self.params.beamGeoParams.showFramesObject, showObjectScale=0.1)
         if self.beamMass != 0.:
             cosseratInSofaFrameNode.addObject(
                 'UniformMass', totalMass=self.beamMass, showAxisSizeFactor='0')

examples/python3/cosserat/cosseratObject.py

@@ -11,7 +11,7 @@
 
 import Sofa
 from cosserat.usefulFunctions import buildEdges, pluginList, BuildCosseratGeometry
-from cosserat.utils import addEdgeCollision, addPointsCollision
+from useful.utils import addEdgeCollision, addPointsCollision
 
 cosserat_config = {'init_pos': [0., 0., 0.], 'tot_length': 6, 'nbSectionS': 6,
                    'nbFramesF': 12, 'buildCollisionModel': 1, 'beamMass': 0.22}

examples/python3/useful/params.py

@@ -12,6 +12,8 @@ class BeamGeometryParameters:
     nbFrames: int = 30  # number of frames along the beam
     buildCollisionModel: int = 0
     init_pos: List[float] = field(default_factory=lambda: [0., 0., 0.])  # The beam rigid base position as a list [x, y, z]
+
+    """Parameters for the visualisation of the beam"""
     showFramesObject: int = 1
     showRigidBaseObject: int = 1