jangirrishabh/cloth_place.py

## cloth_place.py
"""
Scene file for cloth on table.
To check deformations of the cloth under Attach Constraint and Fixed Constraint
Current script uses only Attach constraint at the 2 red balls to grasp the cloth
To add Fixed constraint uncomment line 62

Note: The red balls are supposed to move together in simulation and thus the cloth must follow them with minimum deformations
at the grasped vertices
"""


import os
import numpy as np
import Sofa
import random
import time
import sys


class workspace (Sofa.PythonScriptController):

    def __init__(self, node, commandLineArguments) :
        self.commandLineArguments = commandLineArguments
        print "Command line arguments for python : "+str(commandLineArguments)
        self.node = node
        self.createGraph(node)
        print 'INIT GRAPH CALLED'


        self.timeStep = 0
        self.random_start = 15
        self.node.animate = 1

        return None;

    def createGraph(self,rootNode):

        self.gripped = 1
        # rootNode
        rootNode.createObject('VisualStyle', displayFlags='hideBehaviorModels hideCollisionModels hideMappings hideForceFields showVisualModels hideInteractionForceFields')
        rootNode.createObject('RequiredPlugin', name='SofaMiscCollision')
        rootNode.createObject('RequiredPlugin', pluginName='SofaPython', name='SofaPython')
        rootNode.createObject('FreeMotionAnimationLoop', solveVelocityConstraintFirst='0')
        rootNode.createObject('LCPConstraintSolver', mu='0.9', name='LCPConstraintSolver', maxIt='1000', printLog='0', initial_guess='false', multi_grid='false', build_lcp='true', tolerance='1e-6')
        rootNode.createObject('CollisionPipeline', draw='0', depth='6', verbose='0')
        rootNode.createObject('BruteForceDetection', name='N2')
        rootNode.createObject('LocalMinDistance', useLMDFilters='0', contactDistance='01', alarmDistance='03', name='Proximity')
        #rootNode.createObject('MinProximityIntersection', contactDistance='01', alarmDistance='03', name='Proximity')
        rootNode.createObject('CollisionResponse', name='Response', response='FrictionContact')

        # rootNode/SquareGravity
        SquareGravity = rootNode.createChild('SquareGravity')
        self.SquareGravity = SquareGravity
        SquareGravity.createObject('EulerImplicitSolver', name='cg_odesolver', printLog='false')
        SquareGravity.createObject('CGLinearSolver', threshold='1.0e-100', tolerance='1.0e-9', name='linear solver', iterations='10')
        SquareGravity.createObject('MeshGmshLoader', scale='100', name='loader', translation='0 50 -80', createSubelements='true', rotation='90 0 0', filename='mesh/square3.msh')
        SquareGravity.createObject('TriangleSetTopologyContainer', src='@loader', name='topo')
        SquareGravity.createObject('TriangleSetGeometryAlgorithms', recomputeTrianglesOrientation='1', name='algo', template='Vec3d')
        SquareGravity.createObject('MechanicalObject', src='@loader', name='cloth', template='Vec3d')
        SquareGravity.createObject('UniformMass', template="Vec3d", mass="0.07")
        #SquareGravity.createObject('DiagonalMass', name='DiagonalMass', massDensity='0.01')
        SquareGravity.createObject('TriangularFEMForceField', name='TriangularFEMForceField', youngModulus='1000', template='Vec3d', method='large', poissonRatio='0.1')
        SquareGravity.createObject('TriangularBendingSprings', template='Vec3d', damping='2.0', stiffness='10', name='FEM-Bend')
        SquareGravity.createObject('UncoupledConstraintCorrection', compliance='100')
        #SquareGravity.createObject('FixedConstraint', indices='2 3') # -- Change Here

        # rootNode/SquareGravity/TriangularSurface
        TriangularSurface = SquareGravity.createChild('TriangularSurface')
        self.TriangularSurface = TriangularSurface
        TriangularSurface.createObject('TriangleSetTopologyContainer', name='Container')
        TriangularSurface.createObject('TriangleSetTopologyModifier', name='Modifier')
        TriangularSurface.createObject('Tetra2TriangleTopologicalMapping', input='@../topo', output='@Container')
        TriangularSurface.createObject('Triangle', name='models')
        TriangularSurface.createObject('Line')
        TriangularSurface.createObject('Point')

        # rootNode/SquareGravity/clothVisual
        clothVisual = SquareGravity.createChild('clothVisual')
        self.clothVisual = clothVisual
        clothVisual.createObject('OglModel', color='red', src='@../loader', name='Visual', template='ExtVec3f')
        clothVisual.createObject('IdentityMapping', input='@..', output='@Visual')

        # rootNode/SquareGravity/Edge Mesh
        Edge_Mesh = SquareGravity.createChild('Edge Mesh')
        self.Edge_Mesh = Edge_Mesh
        Edge_Mesh.createObject('EdgeSetTopologyContainer', name='Container')
        Edge_Mesh.createObject('EdgeSetTopologyModifier', name='Modifier')
        Edge_Mesh.createObject('EdgeSetGeometryAlgorithms', drawEdges='1', name='GeomAlgo', template='Vec3d')
        Edge_Mesh.createObject('EdgeSetTopologyAlgorithms', name='TopoAlgo', template='Vec3d')
        Edge_Mesh.createObject('Triangle2EdgeTopologicalMapping', input='@../topo', name='Mapping', output='@Container')
        Edge_Mesh.createObject('MeshSpringForceField', name='MeshSpringForceField', template='Vec3d', stiffness='100', damping='1.0')

        # rootNode/SquareGravity/Edge Mesh/Visu
        Visu = Edge_Mesh.createChild('Visu')
        self.Visu = Visu
        #SquareGravity.createObject('PlaneForceField', normal='0 1 0', d='-5', stiffness='0.5', damping='0.3')

        # rootNode/Input
        Input = rootNode.createChild('Input')
        self.Input = Input
        #Input.createObject('PythonScriptController', classname='clothMesh', filename='keyboardControl.py')
        Input.createObject('MechanicalObject', position='0 50 -80  0  0  0  1.0', name='DOFs', template='Rigid')

        # rootNode/Input/VisuAvatar
        VisuAvatar = Input.createChild('VisuAvatar')
        self.VisuAvatar = VisuAvatar
        VisuAvatar.activated = 'false'
        VisuAvatar.createObject('OglModel', color='blue', scale='2', name='Visual', fileMesh='mesh/sphere.obj')
        VisuAvatar.createObject('RigidMapping', input='@..', output='@Visual')

        # rootNode/Input/RefModel
        RefModel = Input.createChild('RefModel')
        self.RefModel = RefModel
        RefModel.createObject('MeshObjLoader', name='loader', filename='mesh/sphere.obj')
        RefModel.createObject('Mesh', src='@loader')
        RefModel.createObject('MechanicalObject', src='@loader', name='instrumentCollisionState')
        RefModel.createObject('RigidMapping')

        Input_2 = rootNode.createChild('Input_2')
        self.Input_2 = Input_2
        #Input.createObject('PythonScriptController', classname='clothMesh', filename='keyboardControl.py')
        Input_2.createObject('MechanicalObject', position='100 50 -80  0  0  0  1.0', name='DOFs', template='Rigid')

        # rootNode/Input/VisuAvatar
        VisuAvatar = Input_2.createChild('VisuAvatar')
        self.VisuAvatar = VisuAvatar
        VisuAvatar.activated = 'false'
        VisuAvatar.createObject('OglModel', color='blue', scale='2', name='Visual', fileMesh='mesh/sphere.obj')
        VisuAvatar.createObject('RigidMapping', input='@..', output='@Visual')

        # rootNode/Input/RefModel
        RefModel = Input_2.createChild('RefModel')
        self.RefModel = RefModel
        RefModel.createObject('MeshObjLoader', name='loader', filename='mesh/sphere.obj')
        RefModel.createObject('Mesh', src='@loader')
        RefModel.createObject('MechanicalObject', src='@loader', name='instrumentCollisionState')
        RefModel.createObject('RigidMapping')

        # rootNode/ball
        ball = rootNode.createChild('ball')
        self.ball = ball
        ball.createObject('EulerImplicitSolver', rayleighStiffness='0.05', name='ODE solver', rayleighMass='0.0')
        ball.createObject('CGLinearSolver', threshold='10e-100', tolerance='1e-10', name='linear solver', iterations='10')
        ball.createObject('MechanicalObject', translation='0 50 -80', name='ballState', template='Rigid3d')
        ball.createObject('UniformMass', name='mass', totalmass='0.0')
        ball.createObject('LCPForceFeedback', activate='true', forceCoef='0.001')
        ball.createObject('UncoupledConstraintCorrection', compliance='100')

        # rootNode/ball/ball_surf
        ball_surf = ball.createChild('ball_surf')
        self.ball_surf = ball_surf
        ball_surf.createObject('MeshObjLoader', name='meshLoader', filename='mesh/sphere.obj')
        ball_surf.createObject('Mesh', src='@meshLoader')
        ball_surf.createObject('MechanicalObject', src='@meshLoader', scale='2', name='ballCollisionState', template='Vec3d')
        ball_surf.createObject('UniformMass', totalMass='0.0')
        ball_surf.createObject('UncoupledConstraintCorrection', compliance='1')
        ball_surf.createObject('RigidMapping', input='@..', output='@ballCollisionState')

        # rootNode/ball/ball_surf/VisualModel
        VisualModel = ball_surf.createChild('VisualModel')
        self.VisualModel = VisualModel
        VisualModel.createObject('OglModel', color='1.0 0.2 0.2 1.0', src='@../meshLoader', scale='2', name='ballVisualModel')
        VisualModel.createObject('IdentityMapping', input='@..', output='@ballVisualModel')
        ball.createObject('Sphere')
        ball.createObject('VectorSpringForceField', object1='@Input/RefModel/instrumentCollisionState', object2='@ball/ball_surf/ballCollisionState', viscosity='0', stiffness='100000')
        rootNode.createObject('AttachConstraint', indices1='0', name='attachConstraint', indices2='3', velocityFactor='1.0', responseFactor='1.0', object1='@ball/ball_surf', object2='@SquareGravity', positionFactor='1.0', constraintFactor='1', twoWay='true')
        #rootNode.createObject('AttachConstraint', indices1='0', name='attachConstraint', indices2='3', radius=2.0, object1='@ball/ball_surf', object2='@SquareGravity', constraintFactor='1', twoWay='false')

        # rootNode/ball
        ball_2 = rootNode.createChild('ball_2')
        self.ball_2 = ball_2
        ball_2.createObject('EulerImplicitSolver', rayleighStiffness='0.05', name='ODE solver', rayleighMass='0.0')
        ball_2.createObject('CGLinearSolver', threshold='10e-100', tolerance='1e-10', name='linear solver', iterations='10')
        ball_2.createObject('MechanicalObject', translation='100 50 -80', name='ballState', template='Rigid3d')
        ball_2.createObject('UniformMass', name='mass', totalmass='0.0')
        ball_2.createObject('LCPForceFeedback', activate='true', forceCoef='0.001')
        ball_2.createObject('UncoupledConstraintCorrection', compliance='100')

        # rootNode/ball/ball_2_surf
        ball_2_surf = ball_2.createChild('ball_2_surf')
        self.ball_2_surf = ball_2_surf
        ball_2_surf.createObject('MeshObjLoader', name='meshLoader', filename='mesh/sphere.obj')
        ball_2_surf.createObject('Mesh', src='@meshLoader')
        ball_2_surf.createObject('MechanicalObject', src='@meshLoader', scale='2', name='ball2CollisionState', template='Vec3d')
        ball_2_surf.createObject('UniformMass', totalMass='0.0')
        ball_2_surf.createObject('UncoupledConstraintCorrection', compliance='1')
        ball_2_surf.createObject('RigidMapping', input='@..', output='@ball2CollisionState')

        # rootNode/ball/ball_2_surf/VisualModel
        VisualModel = ball_2_surf.createChild('VisualModel')
        self.VisualModel = VisualModel
        VisualModel.createObject('OglModel', color='1.0 0.2 0.2 1.0', src='@../meshLoader', scale='2', name='ball2VisualModel')
        VisualModel.createObject('IdentityMapping', input='@..', output='@ball2VisualModel')
        ball_2.createObject('Sphere')
        ball_2.createObject('VectorSpringForceField', object1='@Input_2/RefModel/instrumentCollisionState', object2='@ball_2/ball_2_surf/ball2CollisionState', viscosity='0', stiffness='100000')
        rootNode.createObject('AttachConstraint', indices1='0', name='attachConstraint2', indices2='2', velocityFactor='1.0', responseFactor='1.0', object1='@ball_2/ball_2_surf', object2='@SquareGravity', positionFactor='1.0', constraintFactor='1', twoWay='true')

        # rootNode/goal1
        goal1 = rootNode.createChild('goal1')
        self.goal1 = goal1
        goal1.activated = 'true'
        goal1.createObject('MechanicalObject', name='goalState1', template='Rigid')

        # rootNode/goal1/VisualModel1
        VisualModel1 = goal1.createChild('VisualModel1')
        self.VisualModel1 = VisualModel1
        VisualModel1.createObject('OglModel', color='0.0 1.0 0.0 1.0', scale='2', name='goalVisualModel1', fileMesh='mesh/sphere.obj')
        VisualModel1.createObject('RigidMapping', input='@goalState1', name='MM->VM mapping', output='@goalVisualModel1')

        # rootNode/goal2
        goal2 = rootNode.createChild('goal2')
        self.goal2 = goal2
        goal2.activated = 'true'
        goal2.createObject('MechanicalObject', name='goalState2', template='Rigid')

        # rootNode/goal2/VisualModel2
        VisualModel2 = goal2.createChild('VisualModel2')
        self.VisualModel2 = VisualModel2
        VisualModel2.createObject('OglModel', color='0.0 1.0 0.0 1.0', scale='2', name='goalVisualModel2', fileMesh='mesh/sphere.obj')
        VisualModel2.createObject('RigidMapping', input='@goalState2', name='MM->VM mapping', output='@goalVisualModel2')

        # rootNode/Floor
        Floor = rootNode.createChild('Floor')
        self.Floor = Floor
        Floor.createObject('MeshObjLoader', filename='mesh/floorFlat.obj', translation='50 -10 50', scale='5', triangulate='true', name='loader')
        Floor.createObject('MeshTopology', src='@loader')
        Floor.createObject('MechanicalObject', src='@loader', name='DOFs', template='Vec3d')
        Floor.createObject('Triangle', moving='0', contactFriction='100', simulated='0')
        Floor.createObject('Line', moving='0', contactFriction='100', simulated='0')
        Floor.createObject('Point', moving='0', contactFriction='100', simulated='0')
        Floor.createObject('OglModel', name='FloorV')


        return 0;


    def onScriptEvent(self,senderNode, eventName, data):
        ## Please feel free to add an example for a simple usage in /home/rjangir/softwareInstalled/sofa/src/applications/plugins/SofaPython/scn2python.py
        self.SquareGravity.getObject('cloth').applyTranslation(random.randint(-self.random_start, self.random_start), 0, random.randint(-self.random_start, self.random_start))
        return 0;

    def onEndAnimationStep(self, deltaTime):
        ## Please feel free to add an example for a simple usage in /home/rjangir/softwareInstalled/sofa/src/applications/plugins/SofaPython/scn2python.py
        return 0;

    def reset(self):
        ## Please feel free to add an example for a simple usage in /home/rjangir/softwareInstalled/sofa/src/applications/plugins/SofaPython/scn2python.py
        #print "Reset being called in the workspace Python file", self.timeStep
        return 0;

    def onBeginAnimationStep(self, deltaTime):
        ## Please feel free to add an example for a simple usage in /home/rjangir/softwareInstalled/sofa/src/applications/plugins/SofaPython/scn2python.py
        return 0;


def createScene(rootNode):
    rootNode.findData('dt').value = '0.05'
    try :
        sys.argv[0]
    except :
        commandLineArguments = []
    else :
        commandLineArguments = sys.argv
    myworkspace = workspace(rootNode,commandLineArguments)
    return 0;
	"""
	Scene file for cloth on table.
	To check deformations of the cloth under Attach Constraint and Fixed Constraint
	Current script uses only Attach constraint at the 2 red balls to grasp the cloth
	To add Fixed constraint uncomment line 62

	Note: The red balls are supposed to move together in simulation and thus the cloth must follow them with minimum deformations
	at the grasped vertices
	"""


	import os
	import numpy as np
	import Sofa
	import random
	import time
	import sys


	class workspace (Sofa.PythonScriptController):

	def __init__(self, node, commandLineArguments) :
	self.commandLineArguments = commandLineArguments
	print "Command line arguments for python : "+str(commandLineArguments)
	self.node = node
	self.createGraph(node)
	print 'INIT GRAPH CALLED'


	self.timeStep = 0
	self.random_start = 15
	self.node.animate = 1

	return None;

	def createGraph(self,rootNode):

	self.gripped = 1
	# rootNode
	rootNode.createObject('VisualStyle', displayFlags='hideBehaviorModels hideCollisionModels hideMappings hideForceFields showVisualModels hideInteractionForceFields')
	rootNode.createObject('RequiredPlugin', name='SofaMiscCollision')
	rootNode.createObject('RequiredPlugin', pluginName='SofaPython', name='SofaPython')
	rootNode.createObject('FreeMotionAnimationLoop', solveVelocityConstraintFirst='0')
	rootNode.createObject('LCPConstraintSolver', mu='0.9', name='LCPConstraintSolver', maxIt='1000', printLog='0', initial_guess='false', multi_grid='false', build_lcp='true', tolerance='1e-6')
	rootNode.createObject('CollisionPipeline', draw='0', depth='6', verbose='0')
	rootNode.createObject('BruteForceDetection', name='N2')
	rootNode.createObject('LocalMinDistance', useLMDFilters='0', contactDistance='01', alarmDistance='03', name='Proximity')
	#rootNode.createObject('MinProximityIntersection', contactDistance='01', alarmDistance='03', name='Proximity')
	rootNode.createObject('CollisionResponse', name='Response', response='FrictionContact')

	# rootNode/SquareGravity
	SquareGravity = rootNode.createChild('SquareGravity')
	self.SquareGravity = SquareGravity
	SquareGravity.createObject('EulerImplicitSolver', name='cg_odesolver', printLog='false')
	SquareGravity.createObject('CGLinearSolver', threshold='1.0e-100', tolerance='1.0e-9', name='linear solver', iterations='10')
	SquareGravity.createObject('MeshGmshLoader', scale='100', name='loader', translation='0 50 -80', createSubelements='true', rotation='90 0 0', filename='mesh/square3.msh')
	SquareGravity.createObject('TriangleSetTopologyContainer', src='@loader', name='topo')
	SquareGravity.createObject('TriangleSetGeometryAlgorithms', recomputeTrianglesOrientation='1', name='algo', template='Vec3d')
	SquareGravity.createObject('MechanicalObject', src='@loader', name='cloth', template='Vec3d')
	SquareGravity.createObject('UniformMass', template="Vec3d", mass="0.07")
	#SquareGravity.createObject('DiagonalMass', name='DiagonalMass', massDensity='0.01')
	SquareGravity.createObject('TriangularFEMForceField', name='TriangularFEMForceField', youngModulus='1000', template='Vec3d', method='large', poissonRatio='0.1')
	SquareGravity.createObject('TriangularBendingSprings', template='Vec3d', damping='2.0', stiffness='10', name='FEM-Bend')
	SquareGravity.createObject('UncoupledConstraintCorrection', compliance='100')
	#SquareGravity.createObject('FixedConstraint', indices='2 3') # -- Change Here

	# rootNode/SquareGravity/TriangularSurface
	TriangularSurface = SquareGravity.createChild('TriangularSurface')
	self.TriangularSurface = TriangularSurface
	TriangularSurface.createObject('TriangleSetTopologyContainer', name='Container')
	TriangularSurface.createObject('TriangleSetTopologyModifier', name='Modifier')
	TriangularSurface.createObject('Tetra2TriangleTopologicalMapping', input='@../topo', output='@Container')
	TriangularSurface.createObject('Triangle', name='models')
	TriangularSurface.createObject('Line')
	TriangularSurface.createObject('Point')

	# rootNode/SquareGravity/clothVisual
	clothVisual = SquareGravity.createChild('clothVisual')
	self.clothVisual = clothVisual
	clothVisual.createObject('OglModel', color='red', src='@../loader', name='Visual', template='ExtVec3f')
	clothVisual.createObject('IdentityMapping', input='@..', output='@Visual')

	# rootNode/SquareGravity/Edge Mesh
	Edge_Mesh = SquareGravity.createChild('Edge Mesh')
	self.Edge_Mesh = Edge_Mesh
	Edge_Mesh.createObject('EdgeSetTopologyContainer', name='Container')
	Edge_Mesh.createObject('EdgeSetTopologyModifier', name='Modifier')
	Edge_Mesh.createObject('EdgeSetGeometryAlgorithms', drawEdges='1', name='GeomAlgo', template='Vec3d')
	Edge_Mesh.createObject('EdgeSetTopologyAlgorithms', name='TopoAlgo', template='Vec3d')
	Edge_Mesh.createObject('Triangle2EdgeTopologicalMapping', input='@../topo', name='Mapping', output='@Container')
	Edge_Mesh.createObject('MeshSpringForceField', name='MeshSpringForceField', template='Vec3d', stiffness='100', damping='1.0')

	# rootNode/SquareGravity/Edge Mesh/Visu
	Visu = Edge_Mesh.createChild('Visu')
	self.Visu = Visu
	#SquareGravity.createObject('PlaneForceField', normal='0 1 0', d='-5', stiffness='0.5', damping='0.3')

	# rootNode/Input
	Input = rootNode.createChild('Input')
	self.Input = Input
	#Input.createObject('PythonScriptController', classname='clothMesh', filename='keyboardControl.py')
	Input.createObject('MechanicalObject', position='0 50 -80 0 0 0 1.0', name='DOFs', template='Rigid')

	# rootNode/Input/VisuAvatar
	VisuAvatar = Input.createChild('VisuAvatar')
	self.VisuAvatar = VisuAvatar
	VisuAvatar.activated = 'false'
	VisuAvatar.createObject('OglModel', color='blue', scale='2', name='Visual', fileMesh='mesh/sphere.obj')
	VisuAvatar.createObject('RigidMapping', input='@..', output='@Visual')

	# rootNode/Input/RefModel
	RefModel = Input.createChild('RefModel')
	self.RefModel = RefModel
	RefModel.createObject('MeshObjLoader', name='loader', filename='mesh/sphere.obj')
	RefModel.createObject('Mesh', src='@loader')
	RefModel.createObject('MechanicalObject', src='@loader', name='instrumentCollisionState')
	RefModel.createObject('RigidMapping')

	Input_2 = rootNode.createChild('Input_2')
	self.Input_2 = Input_2
	#Input.createObject('PythonScriptController', classname='clothMesh', filename='keyboardControl.py')
	Input_2.createObject('MechanicalObject', position='100 50 -80 0 0 0 1.0', name='DOFs', template='Rigid')

	# rootNode/Input/VisuAvatar
	VisuAvatar = Input_2.createChild('VisuAvatar')
	self.VisuAvatar = VisuAvatar
	VisuAvatar.activated = 'false'
	VisuAvatar.createObject('OglModel', color='blue', scale='2', name='Visual', fileMesh='mesh/sphere.obj')
	VisuAvatar.createObject('RigidMapping', input='@..', output='@Visual')

	# rootNode/Input/RefModel
	RefModel = Input_2.createChild('RefModel')
	self.RefModel = RefModel
	RefModel.createObject('MeshObjLoader', name='loader', filename='mesh/sphere.obj')
	RefModel.createObject('Mesh', src='@loader')
	RefModel.createObject('MechanicalObject', src='@loader', name='instrumentCollisionState')
	RefModel.createObject('RigidMapping')

	# rootNode/ball
	ball = rootNode.createChild('ball')
	self.ball = ball
	ball.createObject('EulerImplicitSolver', rayleighStiffness='0.05', name='ODE solver', rayleighMass='0.0')
	ball.createObject('CGLinearSolver', threshold='10e-100', tolerance='1e-10', name='linear solver', iterations='10')
	ball.createObject('MechanicalObject', translation='0 50 -80', name='ballState', template='Rigid3d')
	ball.createObject('UniformMass', name='mass', totalmass='0.0')
	ball.createObject('LCPForceFeedback', activate='true', forceCoef='0.001')
	ball.createObject('UncoupledConstraintCorrection', compliance='100')

	# rootNode/ball/ball_surf
	ball_surf = ball.createChild('ball_surf')
	self.ball_surf = ball_surf
	ball_surf.createObject('MeshObjLoader', name='meshLoader', filename='mesh/sphere.obj')
	ball_surf.createObject('Mesh', src='@meshLoader')
	ball_surf.createObject('MechanicalObject', src='@meshLoader', scale='2', name='ballCollisionState', template='Vec3d')
	ball_surf.createObject('UniformMass', totalMass='0.0')
	ball_surf.createObject('UncoupledConstraintCorrection', compliance='1')
	ball_surf.createObject('RigidMapping', input='@..', output='@ballCollisionState')

	# rootNode/ball/ball_surf/VisualModel
	VisualModel = ball_surf.createChild('VisualModel')
	self.VisualModel = VisualModel
	VisualModel.createObject('OglModel', color='1.0 0.2 0.2 1.0', src='@../meshLoader', scale='2', name='ballVisualModel')
	VisualModel.createObject('IdentityMapping', input='@..', output='@ballVisualModel')
	ball.createObject('Sphere')
	ball.createObject('VectorSpringForceField', object1='@Input/RefModel/instrumentCollisionState', object2='@ball/ball_surf/ballCollisionState', viscosity='0', stiffness='100000')
	rootNode.createObject('AttachConstraint', indices1='0', name='attachConstraint', indices2='3', velocityFactor='1.0', responseFactor='1.0', object1='@ball/ball_surf', object2='@SquareGravity', positionFactor='1.0', constraintFactor='1', twoWay='true')
	#rootNode.createObject('AttachConstraint', indices1='0', name='attachConstraint', indices2='3', radius=2.0, object1='@ball/ball_surf', object2='@SquareGravity', constraintFactor='1', twoWay='false')

	# rootNode/ball
	ball_2 = rootNode.createChild('ball_2')
	self.ball_2 = ball_2
	ball_2.createObject('EulerImplicitSolver', rayleighStiffness='0.05', name='ODE solver', rayleighMass='0.0')
	ball_2.createObject('CGLinearSolver', threshold='10e-100', tolerance='1e-10', name='linear solver', iterations='10')
	ball_2.createObject('MechanicalObject', translation='100 50 -80', name='ballState', template='Rigid3d')
	ball_2.createObject('UniformMass', name='mass', totalmass='0.0')
	ball_2.createObject('LCPForceFeedback', activate='true', forceCoef='0.001')
	ball_2.createObject('UncoupledConstraintCorrection', compliance='100')

	# rootNode/ball/ball_2_surf
	ball_2_surf = ball_2.createChild('ball_2_surf')
	self.ball_2_surf = ball_2_surf
	ball_2_surf.createObject('MeshObjLoader', name='meshLoader', filename='mesh/sphere.obj')
	ball_2_surf.createObject('Mesh', src='@meshLoader')
	ball_2_surf.createObject('MechanicalObject', src='@meshLoader', scale='2', name='ball2CollisionState', template='Vec3d')
	ball_2_surf.createObject('UniformMass', totalMass='0.0')
	ball_2_surf.createObject('UncoupledConstraintCorrection', compliance='1')
	ball_2_surf.createObject('RigidMapping', input='@..', output='@ball2CollisionState')

	# rootNode/ball/ball_2_surf/VisualModel
	VisualModel = ball_2_surf.createChild('VisualModel')
	self.VisualModel = VisualModel
	VisualModel.createObject('OglModel', color='1.0 0.2 0.2 1.0', src='@../meshLoader', scale='2', name='ball2VisualModel')
	VisualModel.createObject('IdentityMapping', input='@..', output='@ball2VisualModel')
	ball_2.createObject('Sphere')
	ball_2.createObject('VectorSpringForceField', object1='@Input_2/RefModel/instrumentCollisionState', object2='@ball_2/ball_2_surf/ball2CollisionState', viscosity='0', stiffness='100000')
	rootNode.createObject('AttachConstraint', indices1='0', name='attachConstraint2', indices2='2', velocityFactor='1.0', responseFactor='1.0', object1='@ball_2/ball_2_surf', object2='@SquareGravity', positionFactor='1.0', constraintFactor='1', twoWay='true')

	# rootNode/goal1
	goal1 = rootNode.createChild('goal1')
	self.goal1 = goal1
	goal1.activated = 'true'
	goal1.createObject('MechanicalObject', name='goalState1', template='Rigid')

	# rootNode/goal1/VisualModel1
	VisualModel1 = goal1.createChild('VisualModel1')
	self.VisualModel1 = VisualModel1
	VisualModel1.createObject('OglModel', color='0.0 1.0 0.0 1.0', scale='2', name='goalVisualModel1', fileMesh='mesh/sphere.obj')
	VisualModel1.createObject('RigidMapping', input='@goalState1', name='MM->VM mapping', output='@goalVisualModel1')

	# rootNode/goal2
	goal2 = rootNode.createChild('goal2')
	self.goal2 = goal2
	goal2.activated = 'true'
	goal2.createObject('MechanicalObject', name='goalState2', template='Rigid')

	# rootNode/goal2/VisualModel2
	VisualModel2 = goal2.createChild('VisualModel2')
	self.VisualModel2 = VisualModel2
	VisualModel2.createObject('OglModel', color='0.0 1.0 0.0 1.0', scale='2', name='goalVisualModel2', fileMesh='mesh/sphere.obj')
	VisualModel2.createObject('RigidMapping', input='@goalState2', name='MM->VM mapping', output='@goalVisualModel2')

	# rootNode/Floor
	Floor = rootNode.createChild('Floor')
	self.Floor = Floor
	Floor.createObject('MeshObjLoader', filename='mesh/floorFlat.obj', translation='50 -10 50', scale='5', triangulate='true', name='loader')
	Floor.createObject('MeshTopology', src='@loader')
	Floor.createObject('MechanicalObject', src='@loader', name='DOFs', template='Vec3d')
	Floor.createObject('Triangle', moving='0', contactFriction='100', simulated='0')
	Floor.createObject('Line', moving='0', contactFriction='100', simulated='0')
	Floor.createObject('Point', moving='0', contactFriction='100', simulated='0')
	Floor.createObject('OglModel', name='FloorV')



	return 0;


	def onScriptEvent(self,senderNode, eventName, data):
	## Please feel free to add an example for a simple usage in /home/rjangir/softwareInstalled/sofa/src/applications/plugins/SofaPython/scn2python.py
	self.SquareGravity.getObject('cloth').applyTranslation(random.randint(-self.random_start, self.random_start), 0, random.randint(-self.random_start, self.random_start))
	return 0;

	def onEndAnimationStep(self, deltaTime):
	## Please feel free to add an example for a simple usage in /home/rjangir/softwareInstalled/sofa/src/applications/plugins/SofaPython/scn2python.py
	return 0;

	def reset(self):
	## Please feel free to add an example for a simple usage in /home/rjangir/softwareInstalled/sofa/src/applications/plugins/SofaPython/scn2python.py
	#print "Reset being called in the workspace Python file", self.timeStep
	return 0;

	def onBeginAnimationStep(self, deltaTime):
	## Please feel free to add an example for a simple usage in /home/rjangir/softwareInstalled/sofa/src/applications/plugins/SofaPython/scn2python.py
	return 0;


	def createScene(rootNode):
	rootNode.findData('dt').value = '0.05'
	try :
	sys.argv[0]
	except :
	commandLineArguments = []
	else :
	commandLineArguments = sys.argv
	myworkspace = workspace(rootNode,commandLineArguments)
	return 0;