adding new scens

Refactor event key handling and add new cable-driven Cosserat beam scene

- Updated key event handling in geo_cable_driven_cosserat_beam.py to use
string-based key comparison for + and - keys.
- Fixed minor formatting issue by adding missing comma in
RestShapeSpringsForceField.
- Added new scene file geo_cosserat_cable_driven_cosserat_beam.py for
simulating cable-driven Cosserat beams, with detailed parameter
definitions for beam geometry and physics.
- Introduced PullingCosseratCable controller in
pulling_cosserat_cable.py to handle cable pulling mechanics.
- Replaced BeamPhysicsParameters with BeamPhysicsParametersNoInertia in
tuto_5.py for more specific physical simulations.

tutorial/tuto_scenes/geo_cable_driven_cosserat_beam.py

@@ -45,10 +45,10 @@ def __init__(self, *args, **kwargs):
 
     def onKeypressedEvent(self, event):
         displacement = self.cable.CableConstraint.value[0]
-        if event["key"] == Key.plus:
+        if event["key"] == "+":
             displacement += 1.
 
-        elif event["key"] == Key.minus:
+        elif event["key"] == "-":
             displacement -= 1.
             if displacement < 0:
                 displacement = 0
@@ -68,7 +68,7 @@ def createScene(root_node):
         "RestShapeSpringsForceField",
         name="spring",
         stiffness=1e8,
-        angularStiffness=1.0e8 
+        angularStiffness=1.0e8,
         external_points=0,
         points=0,
         template="Rigid3d"

tutorial/tuto_scenes/geo_cosserat_cable_driven_cosserat_beam.py

@@ -0,0 +1,129 @@
+# -*- coding: utf-8 -*-
+"""
+    Cosserat class in SofaPython3.
+"""
+
+__authors__ = "adagolodjo"
+__contact__ = "adagolodjo@protonmail.com"
+__version__ = "1.0.0"
+__copyright__ = "(c) 2021,Inria"
+__date__ = "October, 09 2024"
+
+from useful.header import addHeader, addSolverNode
+from useful.params import Parameters
+from useful.params import BeamPhysicsParametersNoInertia, BeamGeometryParameters, \
+    ContactParameters
+from cosserat.CosseratBase import CosseratBase
+import Sofa
+
+# Define the beam parameters
+beam_length = 1.
+geoParams = BeamGeometryParameters(beam_length=beam_length, nb_section=12, nb_frames=12, build_collision_model=0)
+physicsParams = BeamPhysicsParametersNoInertia(beam_mass=0.03, young_modulus=1.0e5, poisson_ratio=0.4, beam_radius=0.04,
+                                               beam_length=beam_length)
+contactParams = ContactParameters()
+Params = Parameters(beam_geo_params=geoParams, beam_physics_params=physicsParams, contact_params=contactParams)
+
+# Define Cable parameters
+cable_length = 1.2
+cable_geo_params = BeamGeometryParameters(beam_length=cable_length, nb_section=16, nb_frames=16,
+                                          build_collision_model=1)
+cable_physics_params = BeamPhysicsParametersNoInertia(beam_mass=0.03, young_modulus=1.0e7, poisson_ratio=0.4,
+                                                      beam_radius=0.005, beam_length=cable_length)
+cable_params = Parameters(beam_geo_params=cable_geo_params, beam_physics_params=cable_physics_params)
+
+def add_mecha_points_with_skinng_maps(node_name, parent_node, positions, _show=True):
+    node = parent_node.addChild(node_name)
+    meca_node = node.addObject('MechanicalObject', position=positions, template="Vec3d", name=node_name+"_mo")
+    node.addObject('SkinningMapping', nbRef="1", name="skinning_mapping")
+    return meca_node
+
+
+def show_mecha_visual(node, show=True):
+    node.showObject = show
+    node.showIndices = show
+
+
+class CableController(Sofa.Core.Controller):
+    def __init__(self, *args, **kwargs):
+        Sofa.Core.Controller.__init__(self, args, kwargs)
+        self.cable = args[0]
+        self.move = True
+
+    def onAnimateEndEvent(self, event):
+        if self.move:
+            self.pull_cable()
+
+    def pull_cable(self):
+        with self.cable.rest_position.writeable() as pos:
+            pos[0][0] -= 0.01
+
+    def onKeypressedEvent(self, event):
+        if event["key"] == "+":
+            self.move = True
+        elif event["key"] == "-":
+            self.move -= False
+
+
+def createScene(root_node):
+
+    addHeader(root_node, is_constrained=1, is_contact=1, contact_params=Params)
+    root_node.gravity = [0, -9.81, 0.]
+    solver_node = addSolverNode(root_node, name="solver_node")
+
+    solver_node.addObject('GenericConstraintCorrection')
+    # create cosserat Beam
+    beam = solver_node.addChild(CosseratBase(parent=solver_node, beam_params=Params))
+    # Attach beam base using a spring force field
+    beam.rigidBaseNode.addObject(
+        "RestShapeSpringsForceField",
+        name="spring",
+        stiffness=1e8,
+        angularStiffness=1.0e8,
+        external_points=0,
+        points=0,
+        template="Rigid3d"
+    )
+
+    # add points inside the beam
+    frame_node = beam.rigidBaseNode.cosseratInSofaFrameNode
+    sliding_position = [[0, 0, 0.02], [0.2, 0, 0.02], [0.4, 0, 0.02], [0.6, 0, 0.02], [0.8, 0, 0.02], [1, 0, 0.02]]
+    sliding_mo = add_mecha_points_with_skinng_maps(node_name='mapped_poind', parent_node=frame_node, positions=sliding_position)
+
+    # Add cable to the scene
+    cable_solver = addSolverNode(root_node, name="cable_solver")
+    cable_node = cable_solver.addChild(CosseratBase(parent=cable_solver, translation=[-0.2, 0, 0.02],
+                                                    beam_params=cable_params, name="cable"))
+    cable_solver.addObject('GenericConstraintCorrection')
+    cable_frames_node = cable_node.cosseratFrame
+
+    #  This creates a new node in the scene. This node is appended to the finger's node.
+    cable_state_node = cable_frames_node.addChild('cable_state_node')
+
+    # This creates a MechanicalObject, a component holding the degree of freedom of our
+    # mechanical modelling. In the case of a cable it is a set of positions specifying
+    # the points where the cable is passing by.
+    cable_state = cable_state_node.addObject('MechanicalObject', name="cablePos",
+                                             position=cable_node.frames3D)
+    show_mecha_visual(cable_state, show=True)
+    cable_state_node.addObject('IdentityMapping')
+
+    """ These positions are in fact the distance between the 3D points mapped inside the Beam and the cable points"""
+    distance_node = cable_state_node.addChild('distance_node')
+    beam.cosseratFrame.addChild(distance_node)
+
+    distance = distance_node.addObject('MechanicalObject', template='Vec3d', position=sliding_position,
+                                       name="distancePointsMO", showObject='1', showObjectScale='1')
+
+    """The controller of the cable is added to the scene"""
+    # cable_state_node.addObject(CableController(cable_node.rigidBaseNode.RigidBaseMO))
+
+    inputCableMO = cable_state.getLinkPath()
+    sliding_points = sliding_mo.getLinkPath()
+    outputPointMO = distance.getLinkPath()
+    """ This constraint is used to compute the distance between the cable and the fem points"""
+    distance_node.addObject('QPSlidingConstraint', name="QPConstraint")
+    distance_node.addObject('DifferenceMultiMapping', name="pointsMulti", input1=sliding_points, indices="5",
+                            input2=inputCableMO, output=outputPointMO, direction="@../../FramesMO.position")
+
+    return root_node

tutorial/tuto_scenes/git_msg.md

@@ -0,0 +1,7 @@
+Refactor event key handling and add new cable-driven Cosserat beam scene
+
+- Updated key event handling in geo_cable_driven_cosserat_beam.py to use string-based key comparison for + and - keys.
+- Fixed minor formatting issue by adding missing comma in RestShapeSpringsForceField.
+- Added new scene file geo_cosserat_cable_driven_cosserat_beam.py for simulating cable-driven Cosserat beams, with detailed parameter definitions for beam geometry and physics.
+- Introduced PullingCosseratCable controller in pulling_cosserat_cable.py to handle cable pulling mechanics.
+- Replaced BeamPhysicsParameters with BeamPhysicsParametersNoInertia in tuto_5.py for more specific physical simulations.

tutorial/tuto_scenes/pulling_cosserat_cable.py

@@ -0,0 +1,46 @@
+import Sofa.Core
+from splib3.numerics import Quat
+
+
+class PullingCosseratCable(Sofa.Core.Controller):
+    def __init__(self, *args, **kwargs):
+        Sofa.Core.Controller.__init__(self, *args, **kwargs)
+        self.cable = kwargs['frame_node'].FramesMO
+        self.tip_controller = kwargs['tip_controller']
+
+    def onAnimateEndEvent(self, event):
+        pass
+
+    def pull_cable(self):
+        with self.cable.restPosition.writeable() as pos:
+            pos[0][0] -= self.rate
+
+    def compute_orthogonal_force(self):
+        position = self.frames.position[self.size]  # get the last rigid of the cosserat frame
+        orientation = Quat(position[3], position[4], position[5], position[6])  # get the orientation
+        # Calculate the direction of the force in order to remain orthogonal to the x axis of the last frame of the beam.
+        with self.forceNode.forces.writeable() as force:
+            vec = orientation.rotate([0., self.forceCoeff * 5.e-2, 0.])
+            vec.normalize()
+            # print(f' The new vec is : {vec}')
+            for count in range(3):
+                force[0][count] = vec[count]
+
+    def rotate_force(self):
+        if self.forceCoeff <= 100. * pi:
+            with self.tip_controller.position.writeable() as position:
+                last_frame = self.frames.position[self.size]
+                vec = Quat(last_frame[3], last_frame[4], last_frame[5], last_frame[6])  # get the orientation
+
+                vec.rotateFromEuler([self.theta, 0., 0.])  # apply rotation arround x-axis
+                vec.normalize()
+                for i, v in enumerate(vec):
+                    position[0][i + 3] = v
+
+    def onKeypressedEvent(self, event):
+        key = event['key']
+        if key == "+":
+            self.applyForce = True
+        elif key == "-":
+            self.applyForce = False
+

tutorial/tuto_scenes/tuto_5.py

@@ -10,7 +10,7 @@
 __date__ = "October, 26 2021"
 
 from useful.header import addHeader, addSolverNode, addVisual
-from useful.params import BeamPhysicsParameters, BeamGeometryParameters, SimulationParameters
+from useful.params import BeamPhysicsParametersNoInertia , BeamGeometryParameters, SimulationParameters
 from useful.params import Parameters
 from cosserat.CosseratBase import CosseratBase
 from math import sqrt
@@ -27,7 +27,7 @@
 
 geoParams = BeamGeometryParameters(init_pos=[0., 0., 0.], beamLength=81., showFramesObject=1,
                                    nbSection=12, nbFrames=32, buildCollisionModel=0)
-physicsParams = BeamPhysicsParameters(beamMass=1., youngModulus=5.e6, poissonRatio=0.4, beamRadius=0.5,
+physicsParams = BeamPhysicsParametersNoInertia(beamMass=1., youngModulus=5.e6, poissonRatio=0.4, beamRadius=0.5,
                                       beamLength=30)
 
 simuParams = SimulationParameters()
@@ -119,7 +119,7 @@ def createScene(root_node):
     #  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')
 
-    # This creates a MechanicalObject, a componant holding the degree of freedom of our
+    # This creates a MechanicalObject, a componante holding the degree of freedom of our
     # mechanical modelling. In the case of a cable it is a set of positions specifying
     # the points where the cable is passing by.
     cable_state = cable_state_node.addObject('MechanicalObject', name="cablePos",