SofaDefrost · alxbilger · Jul 24, 2024 · Jul 16, 2024 · Jul 16, 2024 · Jul 16, 2024
diff --git a/examples/python3/cosserat/CosseratBase.py b/examples/python3/cosserat/CosseratBase.py
@@ -14,6 +14,7 @@
 from useful.header import addHeader, addVisual, addSolverNode
 from useful.params import Parameters, BeamGeometryParameters
 from useful.geometry import CosseratGeometry, generate_edge_list
+from numpy import array
 
 
 class CosseratBase(Sofa.Prefab):
@@ -39,13 +40,13 @@ class CosseratBase(Sofa.Prefab):
             "name": "translation",
             "type": "Vec3d",
             "help": "Cosserat base Rotation",
-            "default": [0.0, 0.0, 0.0],
+            "default": array([0.0, 0.0, 0.0]),
         },
         {
             "name": "rotation",
             "type": "Vec3d",
             "help": "Cosserat base Rotation",
-            "default": [0.0, 0.0, 0.0],
+            "default": array([0.0, 0.0, 0.0]),
         },
         {  # @TODO: to be removed
             "name": "attachingToLink",
@@ -116,13 +117,8 @@ def _addPointCollisionModel(self, nodeName="CollisionPoints"):
 
     def _addSlidingPoints(self):
         slidingPoint = self.cosseratFrame.addChild("slidingPoint")
-        slidingPoint.addObject(
-            "MechanicalObject",
-            name="slidingPointMO",
-            position=self.frames3D,
-            showObject="0",
-            showIndices="0",
-        )
+        slidingPoint.addObject("MechanicalObject", name="slidingPointMO", position=self.frames3D, 
+                               showObject="0", showIndices="0")
         slidingPoint.addObject("IdentityMapping")
         return slidingPoint
 
@@ -142,8 +138,6 @@ def _addSlidingPointsWithContainer(self):
 
     def _addRigidBaseNode(self):
         rigidBaseNode = self.addChild("rigidBase")
-        trans = list(self.translation.value)
-        rot = list(self.rotation.value)
         # To be improved with classes in top
         positions = [[self.params.beamGeoParams.init_pos] + [0.0, 0.0, 0.0, 1.0]]
 
@@ -152,10 +146,7 @@ def _addRigidBaseNode(self):
             template="Rigid3d",
             name="RigidBaseMO",
             showObjectScale=0.2,
-            translation=trans,  # @Todo: To be removed
-            position=positions,
-            rotation=rot,  #  @Todo: To be removed
-            # showObject=int(self.showObject.value),
+            position=positions
         )
         rigidBaseNodeMo.showObject.setParent(self.showObject)
 

diff --git a/docs/images/CosseratMapping.png → tutorial/images/CosseratMapping.png b/docs/images/CosseratMapping.png → tutorial/images/CosseratMapping.png
diff --git a/docs/images/PCS.png → tutorial/images/PCS.png b/docs/images/PCS.png → tutorial/images/PCS.png
diff --git a/docs/images/Pasted image 20231025171449.png → ...al/images/Pasted image 20231025171449.png b/docs/images/Pasted image 20231025171449.png → ...al/images/Pasted image 20231025171449.png
diff --git a/docs/images/Pasted image 20231102173536.png → ...al/images/Pasted image 20231102173536.png b/docs/images/Pasted image 20231102173536.png → ...al/images/Pasted image 20231102173536.png
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diff --git a/docs/images/Pasted image 20231108233708.png → ...al/images/Pasted image 20231108233708.png b/docs/images/Pasted image 20231108233708.png → ...al/images/Pasted image 20231108233708.png
diff --git a/docs/images/Pasted image 20231108234643.png → ...al/images/Pasted image 20231108234643.png b/docs/images/Pasted image 20231108234643.png → ...al/images/Pasted image 20231108234643.png
diff --git a/docs/images/Pasted image 20231109002926.png → ...al/images/Pasted image 20231109002926.png b/docs/images/Pasted image 20231109002926.png → ...al/images/Pasted image 20231109002926.png
diff --git a/docs/images/Pasted image 20231109003349.png → ...al/images/Pasted image 20231109003349.png b/docs/images/Pasted image 20231109003349.png → ...al/images/Pasted image 20231109003349.png
diff --git a/docs/images/Pasted image 20231109003734.png → ...al/images/Pasted image 20231109003734.png b/docs/images/Pasted image 20231109003734.png → ...al/images/Pasted image 20231109003734.png
diff --git a/docs/images/Pasted image 20231109003934.png → ...al/images/Pasted image 20231109003934.png b/docs/images/Pasted image 20231109003934.png → ...al/images/Pasted image 20231109003934.png
diff --git a/docs/images/Pasted image 20231109004616.png → ...al/images/Pasted image 20231109004616.png b/docs/images/Pasted image 20231109004616.png → ...al/images/Pasted image 20231109004616.png
diff --git a/docs/images/Untitled Diagram.svg → tutorial/images/Untitled Diagram.svg b/docs/images/Untitled Diagram.svg → tutorial/images/Untitled Diagram.svg
diff --git a/docs/images/Untitled.png → tutorial/images/Untitled.png b/docs/images/Untitled.png → tutorial/images/Untitled.png
diff --git a/docs/images/actuationConstraint_1.png → tutorial/images/actuationConstraint_1.png b/docs/images/actuationConstraint_1.png → tutorial/images/actuationConstraint_1.png
diff --git a/docs/images/actuationConstraint_2.png → tutorial/images/actuationConstraint_2.png b/docs/images/actuationConstraint_2.png → tutorial/images/actuationConstraint_2.png
diff --git a/docs/images/circleActuationConstraint.png → ...rial/images/circleActuationConstraint.png b/docs/images/circleActuationConstraint.png → ...rial/images/circleActuationConstraint.png
diff --git a/docs/images/cosseratgripper_2.png → tutorial/images/cosseratgripper_2.png b/docs/images/cosseratgripper_2.png → tutorial/images/cosseratgripper_2.png
diff --git a/docs/images/example1.gif → tutorial/images/example1.gif b/docs/images/example1.gif → tutorial/images/example1.gif
diff --git a/docs/images/example2.gif → tutorial/images/example2.gif b/docs/images/example2.gif → tutorial/images/example2.gif
diff --git a/docs/images/exemple_curv_abs_input.png → tutorial/images/exemple_curv_abs_input.png b/docs/images/exemple_curv_abs_input.png → tutorial/images/exemple_curv_abs_input.png
diff --git a/docs/images/exemple_rigid_translation.png → ...rial/images/exemple_rigid_translation.png b/docs/images/exemple_rigid_translation.png → ...rial/images/exemple_rigid_translation.png
diff --git a/docs/images/frame1.png → tutorial/images/frame1.png b/docs/images/frame1.png → tutorial/images/frame1.png
diff --git a/docs/images/multiSectionWithColorMap1.png → ...rial/images/multiSectionWithColorMap1.png b/docs/images/multiSectionWithColorMap1.png → ...rial/images/multiSectionWithColorMap1.png
diff --git a/docs/images/multiSectionWithColorMap2.png → ...rial/images/multiSectionWithColorMap2.png b/docs/images/multiSectionWithColorMap2.png → ...rial/images/multiSectionWithColorMap2.png
diff --git a/docs/images/multiSectionWithColorMap3.png → ...rial/images/multiSectionWithColorMap3.png b/docs/images/multiSectionWithColorMap3.png → ...rial/images/multiSectionWithColorMap3.png
diff --git a/docs/images/noeud_curv.png → tutorial/images/noeud_curv.png b/docs/images/noeud_curv.png → tutorial/images/noeud_curv.png
diff --git a/docs/images/position_90degres.png → tutorial/images/position_90degres.png b/docs/images/position_90degres.png → tutorial/images/position_90degres.png
diff --git a/docs/images/rigidbase.png → tutorial/images/rigidbase.png b/docs/images/rigidbase.png → tutorial/images/rigidbase.png
diff --git a/docs/images/tenCossseratSections.png → tutorial/images/tenCossseratSections.png b/docs/images/tenCossseratSections.png → tutorial/images/tenCossseratSections.png
diff --git a/docs/images/tenSections.png → tutorial/images/tenSections.png b/docs/images/tenSections.png → tutorial/images/tenSections.png
diff --git a/docs/text/cosserat_tutorial.md → tutorial/text/cosserat_tutorial.md b/docs/text/cosserat_tutorial.md → tutorial/text/cosserat_tutorial.md
diff --git a/docs/text/old_tutooriel.md → tutorial/text/old_tutooriel.md b/docs/text/old_tutooriel.md → tutorial/text/old_tutooriel.md
diff --git a/docs/testScene/controller.py → tutorial/tuto_scenes/controller.py b/docs/testScene/controller.py → tutorial/tuto_scenes/controller.py
diff --git a/docs/testScene/edit_frames.py → tutorial/tuto_scenes/edit_frames.py b/docs/testScene/edit_frames.py → tutorial/tuto_scenes/edit_frames.py
diff --git a/docs/testScene/step1.py → tutorial/tuto_scenes/step1.py b/docs/testScene/step1.py → tutorial/tuto_scenes/step1.py
diff --git a/docs/testScene/tuto_1.py → tutorial/tuto_scenes/tuto_1.py b/docs/testScene/tuto_1.py → tutorial/tuto_scenes/tuto_1.py
@@ -87,6 +87,11 @@ def _add_cosserat_frame(
 
 
 def createScene(root_node):
+    root_node.addObject("RequiredPlugin", name='Sofa.Component.Mass')
+    root_node.addObject("RequiredPlugin", name='Sofa.Component.SolidMechanics.Spring')
+    root_node.addObject("RequiredPlugin", name='Sofa.Component.StateContainer')
+    root_node.addObject("RequiredPlugin", name='Sofa.Component.Visual')
+
     root_node.addObject(
         "VisualStyle",
         displayFlags="showBehaviorModels showCollisionModels showMechanicalMappings",

diff --git a/docs/testScene/tuto_1_6dofs.py → tutorial/tuto_scenes/tuto_1_6dofs.py b/docs/testScene/tuto_1_6dofs.py → tutorial/tuto_scenes/tuto_1_6dofs.py
diff --git a/docs/testScene/tuto_2.py → tutorial/tuto_scenes/tuto_2.py b/docs/testScene/tuto_2.py → tutorial/tuto_scenes/tuto_2.py
@@ -87,6 +87,13 @@ def _add_cosserat_frame(
 
 
 def createScene(root_node):
+    root_node.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver]  
+    root_node.addObject('RequiredPlugin', name='Sofa.Component.Mass') # Needed to use components [UniformMass]  
+    root_node.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitSolver]  
+    root_node.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.Spring') # Needed to use components [RestShapeSpringsForceField]  
+    root_node.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject]  
+    root_node.addObject('RequiredPlugin', name='Sofa.Component.Visual') # Needed to use components [VisualStyle]  
+
     root_node.addObject(
         "VisualStyle",
         displayFlags="showBehaviorModels showCollisionModels showMechanicalMappings",

diff --git a/docs/testScene/tuto_2_6dofs.py → tutorial/tuto_scenes/tuto_2_6dofs.py b/docs/testScene/tuto_2_6dofs.py → tutorial/tuto_scenes/tuto_2_6dofs.py
diff --git a/docs/testScene/tuto_3.py → tutorial/tuto_scenes/tuto_3.py b/docs/testScene/tuto_3.py → tutorial/tuto_scenes/tuto_3.py
diff --git a/docs/testScene/tuto_4.py → tutorial/tuto_scenes/tuto_4.py b/docs/testScene/tuto_4.py → tutorial/tuto_scenes/tuto_4.py
diff --git a/docs/testScene/tuto_5.py → tutorial/tuto_scenes/tuto_5.py b/docs/testScene/tuto_5.py → tutorial/tuto_scenes/tuto_5.py
@@ -20,6 +20,7 @@
 from math import pi
 from useful.header import addHeader, addVisual, addSolverNode, Finger
 from controller import FingerController
+from numpy import array
 
 
 path = f'{os.path.dirname(os.path.abspath(__file__))}/../../examples/python3/actuators/mesh/'
@@ -109,11 +110,11 @@ def createScene(root_node):
     cosserat_beam = solver_node.addChild(CosseratBase(parent=solver_node, params=Params))
     cosserat_frames_node = cosserat_beam.cosseratFrame
 
-    # Finger state
+    # Finger node
     femFingerNode = root_node.addChild('femFingerNode')
     """ Add FEM finger to the scene"""
-    finger_node, fem_points_node = Finger(femFingerNode, name="Finger", rotation=[0.0, 180.0, 0.0],
-                                       translation=[-17.5, -12.5, 7.5], path=path)
+    finger_node, fem_points_node = Finger(femFingerNode, name="Finger", rotation=array([0.0, 180.0, 0.0]),
+                                       translation=array([-17.5, -12.5, 7.5]), path=path)
 
     #  This creates a new node in the scene. This node is appended to the finger's node.
     cable_state_node = cosserat_frames_node.addChild('cable_state_node')

diff --git a/docs/testScene/tuto_compare_2.py → tutorial/tuto_scenes/tuto_compare_2.py b/docs/testScene/tuto_compare_2.py → tutorial/tuto_scenes/tuto_compare_2.py