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"""
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;
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