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[examples] cleaning #279

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May 2, 2024
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[examples] cleaning #279

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4 changes: 2 additions & 2 deletions examples/component/constraint/PositionConstraint/PositionConstraint.py
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Expand Up @@ -17,8 +17,8 @@ def createScene(rootnode):
body.addObject('GenericConstraintCorrection')
body.addObject('BoxROI', name="boxToFixed", box=[0, 0, 0, 0.5, 0.1, 0.1], drawBoxes=True)
body.addObject('BoxROI', name="boxToPull", box=[0, 0.9, 0, 0.5, 1, 0.1], drawBoxes=True)
body.addObject('FixedConstraint', indices=body.boxToFixed.indices.linkpath)
body.addObject('PartialFixedConstraint', indices=body.boxToPull.indices.linkpath, fixedDirections=[1, 0, 1])
body.addObject('FixedProjectiveConstraint', indices=body.boxToFixed.indices.linkpath)
body.addObject('PartialFixedProjectiveConstraint', indices=body.boxToPull.indices.linkpath, fixedDirections=[1, 0, 1])
body.addObject('PositionConstraint', indices=body.boxToPull.indices.linkpath,
valueType="displacement", value=0.5, useDirections=[0, 1, 0])

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2 changes: 1 addition & 1 deletion examples/component/constraint/SurfacePressureConstraint/Springy.py
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Expand Up @@ -56,7 +56,7 @@ def createScene(rootNode):

accordion.addObject('BoxROI', name='ROI1', box=[-2, -2, 0, 2, 2, 0.5], drawBoxes=True)
accordion.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
# accordion.addObject('FixedConstraint', indices='@ROI1.indices')
# accordion.addObject('FixedProjectiveConstraint', indices='@ROI1.indices')

accordion.addObject('LinearSolverConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/thematicalDocs/T1-Elements_TetraHexaBeam/Hexa/Hexa.py
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Expand Up @@ -35,6 +35,6 @@ def createScene(rootNode):
box=[[-30, 80, 70, 30, 140, 130], [-130, -100, 70, -60, -20, 130], [130, -100, 70, 60, -20, 130]],
computeEdges=False, computeTriangles=False, computeTetrahedra=False, computeHexahedra=False, computeQuad=False,
drawBoxes=True)
robot.addObject('FixedConstraint', indices="@boxROI.indices")
robot.addObject('FixedProjectiveConstraint', indices="@boxROI.indices")

return rootNode
2 changes: 1 addition & 1 deletion examples/thematicalDocs/T1-Elements_TetraHexaBeam/Tetra/Tetra.py
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Expand Up @@ -37,6 +37,6 @@ def createScene(rootNode):
robot.addObject('BoxROI', name='boxROI',
box=[[-30, 80, 70, 30, 140, 130], [-130, -100, 70, -60, -20, 130], [130, -100, 70, 60, -20, 130]],
drawBoxes=True)
robot.addObject('FixedConstraint', indices="@boxROI.indices")
robot.addObject('FixedProjectiveConstraint', indices="@boxROI.indices")

return rootNode
2 changes: 1 addition & 1 deletion examples/thematicalDocs/T3-MaterialProperties/Elastic/Simulation.py
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Expand Up @@ -40,6 +40,6 @@ def createScene(rootNode):
robot.addObject('BoxROI', name='boxROI',
box=[[-30, 80, 70, 30, 140, 130], [-130, -100, 70, -60, -20, 130], [130, -100, 70, 60, -20, 130]],
drawBoxes=True)
robot.addObject('FixedConstraint', indices="@boxROI.indices")
robot.addObject('FixedProjectiveConstraint', indices="@boxROI.indices")

return rootNode
2 changes: 1 addition & 1 deletion examples/thematicalDocs/T3-MaterialProperties/Hyperelastic/Simulation.py
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Expand Up @@ -57,6 +57,6 @@ def createScene(rootNode):
robot.addObject('BoxROI', name='boxROI',
box=[[-30, 80, 70, 30, 140, 130], [-130, -100, 70, -60, -20, 130], [130, -100, 70, 60, -20, 130]],
drawBoxes=True)
robot.addObject('FixedConstraint', indices="@boxROI.indices")
robot.addObject('FixedProjectiveConstraint', indices="@boxROI.indices")

return rootNode
6 changes: 3 additions & 3 deletions examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py
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Expand Up @@ -42,11 +42,11 @@ def createScene(rootNode):
youngModulus=600) # 600kPa

robot.addObject('BoxROI', name='boxROI1', box=[-30, 80, 70, 30, 140, 130], drawBoxes=True)
robot.addObject('PartialFixedConstraint', name="pfc1", fixedDirections=[1, 1, 0], indices="@boxROI1.indices")
robot.addObject('PartialFixedProjectiveConstraint', name="pfc1", fixedDirections=[1, 1, 0], indices="@boxROI1.indices")
robot.addObject('BoxROI', name='boxROI2', box=[-130, -100, 70, -60, -20, 130], drawBoxes=True)
robot.addObject('PartialFixedConstraint', name="pfc2", fixedDirections=[1, 1, 0], indices="@boxROI2.indices")
robot.addObject('PartialFixedProjectiveConstraint', name="pfc2", fixedDirections=[1, 1, 0], indices="@boxROI2.indices")
robot.addObject('BoxROI', name='boxROI3', box=[30, -100, 70, 100, -20, 130], drawBoxes=True)
robot.addObject('PartialFixedConstraint', name="pfc3", fixedDirections=[1, 1, 0], indices="@boxROI3.indices")
robot.addObject('PartialFixedProjectiveConstraint', name="pfc3", fixedDirections=[1, 1, 0], indices="@boxROI3.indices")

robot.addObject('LinearSolverConstraintCorrection')

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6 changes: 3 additions & 3 deletions examples/thematicalDocs/T5-OpenLoopControl/InverseSimulation/simuInverse.psl
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Expand Up @@ -41,11 +41,11 @@ Node : { name : "root"
UniformMass : {totalMass : "0.4"}
TetrahedronFEMForceField : {name : "FEM" poissonRatio : "0.45" youngModulus : "600"}
BoxROI : {name : "boxROI1" box : "-30 80 70 30 140 130"}
PartialFixedConstraint : {name : "pfc1" indices : "@boxROI1.indices" fixedDirections : "1 1 0"}
PartialFixedProjectiveConstraint : {name : "pfc1" indices : "@boxROI1.indices" fixedDirections : "1 1 0"}
BoxROI : {name : "boxROI2" box : "-30 80 70 30 140 130"}
PartialFixedConstraint : {name : "pfc2" indices : "@boxROI2.indices" fixedDirections : "1 1 0"}
PartialFixedProjectiveConstraint : {name : "pfc2" indices : "@boxROI2.indices" fixedDirections : "1 1 0"}
BoxROI : {name : "boxROI3" box : "-30 80 70 30 140 130"}
PartialFixedConstraint : {name : "pfc3" indices : "@boxROI3.indices" fixedDirections : "1 1 0"}
PartialFixedProjectiveConstraint : {name : "pfc3" indices : "@boxROI3.indices" fixedDirections : "1 1 0"}
LinearSolverConstraintCorrection : {name : "LinearSolverConstraintCorrection" solverName : "preconditioner"}

###robot/effector
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6 changes: 3 additions & 3 deletions examples/thematicalDocs/T5-OpenLoopControl/InverseSimulation/simuInverse.py
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Expand Up @@ -54,11 +54,11 @@ def createScene(rootNode):
youngModulus=600) # 600kPa

robot.addObject('BoxROI', name='boxROI1', box=[-30, 80, 70, 30, 140, 130], drawBoxes=True)
robot.addObject('PartialFixedConstraint', name="pfc1", fixedDirections=[1, 1, 0], indices="@boxROI1.indices")
robot.addObject('PartialFixedProjectiveConstraint', name="pfc1", fixedDirections=[1, 1, 0], indices="@boxROI1.indices")
robot.addObject('BoxROI', name='boxROI2', box=[-130, -100, 70, -60, -20, 130], drawBoxes=True)
robot.addObject('PartialFixedConstraint', name="pfc2", fixedDirections=[1, 1, 0], indices="@boxROI2.indices")
robot.addObject('PartialFixedProjectiveConstraint', name="pfc2", fixedDirections=[1, 1, 0], indices="@boxROI2.indices")
robot.addObject('BoxROI', name='boxROI3', box=[130, -100, 70, 60, -20, 130], drawBoxes=True)
robot.addObject('PartialFixedConstraint', name="pfc3", fixedDirections=[1, 1, 0], indices="@boxROI3.indices")
robot.addObject('PartialFixedProjectiveConstraint', name="pfc3", fixedDirections=[1, 1, 0], indices="@boxROI3.indices")

robot.addObject('LinearSolverConstraintCorrection')

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4 changes: 2 additions & 2 deletions examples/tutorials/DiamondRobot/DiamondRobot.py
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Expand Up @@ -21,7 +21,7 @@ def createScene(rootNode):
"Sofa.Component.Constraint.Lagrangian.Correction",
# Needed to use components LinearSolverConstraintCorrection
"Sofa.Component.Constraint.Lagrangian.Solver", # Needed to use components GenericConstraintSolver
"Sofa.Component.Constraint.Projective", # Needed to use components FixedConstraint
"Sofa.Component.Constraint.Projective", # Needed to use components FixedProjectiveConstraint
"Sofa.Component.Engine.Select", # Needed to use components BoxROI
"Sofa.Component.IO.Mesh", # Needed to use components MeshVTKLoader
"Sofa.Component.LinearSolver.Direct", # Needed to use components SparseLDLSolver
Expand Down Expand Up @@ -52,7 +52,7 @@ def createScene(rootNode):
robot.addObject('TetrahedronFEMForceField', youngModulus=180, poissonRatio=0.45)
# Fix a part of the model
robot.addObject('BoxROI', name="boxROI", box=[-15, -15, -40, 15, 15, 10], drawBoxes=True)
robot.addObject('FixedConstraint', indices="@boxROI.indices")
robot.addObject('FixedProjectiveConstraint', indices="@boxROI.indices")
robot.addObject('LinearSolverConstraintCorrection')

# Actuators
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2 changes: 1 addition & 1 deletion examples/tutorials/SoftFingerDesign/details/s90_servo.py
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Expand Up @@ -60,7 +60,7 @@ def init(self):
servoBody.addObject('MechanicalObject', name='dofs', template='Rigid3', position=[[0., 0., 0., 0., 0., 0., 1.]],
translation=list(self.translation.value), rotation=list(self.rotation.value),
scale3d=list(self.scale3d.value))
servoBody.addObject('FixedConstraint', indices=0)
servoBody.addObject('FixedProjectiveConstraint', indices=0)
servoBody.addObject('UniformMass', totalMass=0.01)

visual = servoBody.addChild('VisualModel')
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4 changes: 2 additions & 2 deletions examples/tutorials/Tripod/details/s90servo.py
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Expand Up @@ -62,7 +62,7 @@ def __init__(self, *args, **kwargs):
translation=self.translation.value, rotation=self.rotation.value,
scale3d=self.scale3d.value
)
servoBody.addObject('FixedConstraint', indices=0)
servoBody.addObject('FixedProjectiveConstraint', indices=0)
servoBody.addObject('UniformMass', totalMass=0.01)

visual = servoBody.addChild('VisualModel')
Expand Down Expand Up @@ -110,7 +110,7 @@ def createScene(rootNode):
'Sofa.Component.AnimationLoop', # Needed to use components [FreeMotionAnimationLoop]
'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection]
'Sofa.Component.Constraint.Lagrangian.Solver', # Needed to use components [GenericConstraintSolver]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedConstraint]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedProjectiveConstraint]
'Sofa.Component.IO.Mesh', # Needed to use components [MeshSTLLoader]
'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver]
'Sofa.Component.Mapping.NonLinear', # Needed to use components [RigidMapping]
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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/details/step4.py
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Expand Up @@ -21,7 +21,7 @@ def createScene(rootNode):
'Sofa.Component.AnimationLoop', # Needed to use components [FreeMotionAnimationLoop]
'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection]
'Sofa.Component.Constraint.Lagrangian.Solver', # Needed to use components [GenericConstraintSolver]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedConstraint]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedProjectiveConstraint]
'Sofa.Component.Engine.Select', # Needed to use components [BoxROI,SphereROI]
'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver]
'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping,SubsetMultiMapping]
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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/details/tripod.py
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Expand Up @@ -115,7 +115,7 @@ def createScene(rootNode):
'Sofa.Component.AnimationLoop', # Needed to use components [FreeMotionAnimationLoop]
'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection]
'Sofa.Component.Constraint.Lagrangian.Solver', # Needed to use components [GenericConstraintSolver]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedConstraint]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedProjectiveConstraint]
'Sofa.Component.IO.Mesh', # Needed to use components [MeshSTLLoader]
'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver]
'Sofa.Component.Mapping.NonLinear', # Needed to use components [RigidMapping]
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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/myproject/parts/s90servo.py
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Expand Up @@ -62,7 +62,7 @@ def init(self):
servoBody.addObject('MechanicalObject', name='dofs', template='Rigid3', position=[[0., 0., 0., 0., 0., 0., 1.]],
translation=list(self.translation.value), rotation=list(self.rotation.value),
scale3d=list(self.scale3d.value))
servoBody.addObject('FixedConstraint', indices=0)
servoBody.addObject('FixedProjectiveConstraint', indices=0)
servoBody.addObject('UniformMass', totalMass=0.01)

visual = servoBody.addChild('VisualModel')
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4 changes: 2 additions & 2 deletions examples/tutorials/Tripod/myproject/s90servo.py
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Expand Up @@ -62,7 +62,7 @@ def __init__(self, *args, **kwargs):
translation=self.translation.value, rotation=self.rotation.value,
scale3d=self.scale3d.value
)
servoBody.addObject('FixedConstraint', indices=0)
servoBody.addObject('FixedProjectiveConstraint', indices=0)
servoBody.addObject('UniformMass', totalMass=0.01)

visual = servoBody.addChild('VisualModel')
Expand Down Expand Up @@ -110,7 +110,7 @@ def createScene(rootNode):
'Sofa.Component.AnimationLoop', # Needed to use components [FreeMotionAnimationLoop]
'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection]
'Sofa.Component.Constraint.Lagrangian.Solver', # Needed to use components [GenericConstraintSolver]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedConstraint]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedProjectiveConstraint]
'Sofa.Component.IO.Mesh', # Needed to use components [MeshSTLLoader]
'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver]
'Sofa.Component.Mapping.NonLinear', # Needed to use components [RigidMapping]
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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/myproject/step4.py
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Expand Up @@ -21,7 +21,7 @@ def createScene(rootNode):
'Sofa.Component.AnimationLoop', # Needed to use components [FreeMotionAnimationLoop]
'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection]
'Sofa.Component.Constraint.Lagrangian.Solver', # Needed to use components [GenericConstraintSolver]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedConstraint]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedProjectiveConstraint]
'Sofa.Component.Engine.Select', # Needed to use components [BoxROI,SphereROI]
'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver]
'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping,SubsetMultiMapping]
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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/myproject/tripod.py
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Expand Up @@ -115,7 +115,7 @@ def createScene(rootNode):
'Sofa.Component.AnimationLoop', # Needed to use components [FreeMotionAnimationLoop]
'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection]
'Sofa.Component.Constraint.Lagrangian.Solver', # Needed to use components [GenericConstraintSolver]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedConstraint]
'Sofa.Component.Constraint.Projective', # Needed to use components [FixedProjectiveConstraint]
'Sofa.Component.IO.Mesh', # Needed to use components [MeshSTLLoader]
'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver]
'Sofa.Component.Mapping.NonLinear', # Needed to use components [RigidMapping]
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4 changes: 2 additions & 2 deletions examples/tutorials/Trunk/trunk.py
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Expand Up @@ -129,7 +129,7 @@ def addCollisionModel(self, selfCollision=False):

def fixExtremity(self):
self.node.addObject('BoxROI', name='boxROI', box=[[-20, -20, 0], [20, 20, 20]], drawBoxes=False)
self.node.addObject('PartialFixedConstraint', fixedDirections=[1, 1, 1], indices='@boxROI.indices')
self.node.addObject('PartialFixedProjectiveConstraint', fixedDirections=[1, 1, 1], indices='@boxROI.indices')

def addEffectors(self, target, position=[0., 0., 195.]):
effectors = self.node.addChild('Effectors')
Expand All @@ -151,7 +151,7 @@ def createScene(rootNode):
"Sofa.Component.AnimationLoop", # Needed to use components FreeMotionAnimationLoop
"Sofa.Component.Constraint.Lagrangian.Correction", # Needed to use components GenericConstraintCorrection
"Sofa.Component.Constraint.Lagrangian.Solver", # Needed to use components GenericConstraintSolver
"Sofa.Component.Constraint.Projective", # Needed to use components PartialFixedConstraint
"Sofa.Component.Constraint.Projective", # Needed to use components PartialFixedProjectiveConstraint
"Sofa.Component.Engine.Select", # Needed to use components BoxROI
"Sofa.Component.IO.Mesh", # Needed to use components MeshSTLLoader, MeshVTKLoader
"Sofa.Component.LinearSolver.Direct", # Needed to use components SparseLDLSolver
Expand Down
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