diff --git a/examples/tutorials/CableGripper/details/step0.py b/examples/tutorials/CableGripper/details/step0.py index c47bfd7e..176fcda1 100644 --- a/examples/tutorials/CableGripper/details/step0.py +++ b/examples/tutorials/CableGripper/details/step0.py @@ -24,6 +24,6 @@ def createScene(rootNode): volume=20, inertiaMatrix=[1000.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 1000.0], translation=[0.0, -130.0, 10.0]) - cube.addObject('UncoupledConstraintCorrection', defaultCompliance=1e-5) + cube.addObject('UncoupledConstraintCorrection') return rootNode diff --git a/examples/tutorials/CableGripper/details/step6.py b/examples/tutorials/CableGripper/details/step6.py index c47bfd7e..5f128734 100644 --- a/examples/tutorials/CableGripper/details/step6.py +++ b/examples/tutorials/CableGripper/details/step6.py @@ -24,6 +24,7 @@ def createScene(rootNode): volume=20, inertiaMatrix=[1000.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 1000.0], translation=[0.0, -130.0, 10.0]) - cube.addObject('UncoupledConstraintCorrection', defaultCompliance=1e-5) + + cube.addObject('UncoupledConstraintCorrection') return rootNode diff --git a/examples/tutorials/FirstSteps/details/step1.py b/examples/tutorials/FirstSteps/details/step1.py index cb916ffe..331b1326 100644 --- a/examples/tutorials/FirstSteps/details/step1.py +++ b/examples/tutorials/FirstSteps/details/step1.py @@ -32,6 +32,6 @@ def createScene(rootNode): cube = Cube(rootNode, translation=[0.0, 0.0, 0.0], uniformScale=20.0) - cube.addObject('UncoupledConstraintCorrection', defaultCompliance=1e-5) + cube.addObject('UncoupledConstraintCorrection') return rootNode diff --git a/examples/tutorials/FirstSteps/details/step3.py b/examples/tutorials/FirstSteps/details/step3.py index 2c5f8cf7..745fce3c 100644 --- a/examples/tutorials/FirstSteps/details/step3.py +++ b/examples/tutorials/FirstSteps/details/step3.py @@ -40,7 +40,7 @@ def createScene(rootNode): cube.addObject('UniformMass', name="vertexMass", vertexMass=[totalMass, volume, inertiaMatrix[:]]) # Material behaviour when submitted to constraints - cube.addObject('UncoupledConstraintCorrection', defaultCompliance=1e-5) + cube.addObject('UncoupledConstraintCorrection') # Time integration and solver diff --git a/examples/tutorials/FirstSteps/details/step4.py b/examples/tutorials/FirstSteps/details/step4.py index 42762e06..929af0e2 100644 --- a/examples/tutorials/FirstSteps/details/step4.py +++ b/examples/tutorials/FirstSteps/details/step4.py @@ -45,6 +45,7 @@ def createScene(rootNode): translation=[-210 + c * 70, 0.0, 0.0], color=[c / 10.0, c * 0.7 / 10.0, 0.9, 1.0], uniformScale=20.0) - cube.addObject('UncoupledConstraintCorrection', defaultCompliance=1e-5) + + cube.addObject('UncoupledConstraintCorrection') return rootNode diff --git a/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py b/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py index 953bde96..831d5fd0 100644 --- a/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py +++ b/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py @@ -78,7 +78,7 @@ def createScene(rootNode): cube.addObject('EulerImplicitSolver') cube.addObject('CGLinearSolver', threshold=1e-5, tolerance=1e-5, iterations=50) cube.addObject('MechanicalObject', template='Rigid3', position=[-100, 70, 0, 0, 0, 0, 1]) - cube.addObject('UniformMass', totalMass=0.01) + cube.addObject('UniformMass', totalMass=0.001) cube.addObject('UncoupledConstraintCorrection') # collision diff --git a/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py b/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py index 86f15deb..5d3d5971 100644 --- a/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py +++ b/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py @@ -52,7 +52,7 @@ def createScene(rootNode): Floor(rootNode, **floorParam) cube = Cube(rootNode, **cubeParam) - cube.addObject('UncoupledConstraintCorrection', defaultCompliance=1e-5) + cube.addObject('UncoupledConstraintCorrection') for i in range(len(fingersParameters)): finger = ElasticMaterialObject(attachedTo=rootNode, diff --git a/examples/tutorials/Tripod/details/maze.py b/examples/tutorials/Tripod/details/maze.py index 18c6e1f9..b751b25e 100644 --- a/examples/tutorials/Tripod/details/maze.py +++ b/examples/tutorials/Tripod/details/maze.py @@ -79,7 +79,7 @@ def createScene(rootNode): effector.addObject('MechanicalObject', template='Rigid3', name='goalMO', position=[0, 40, 0, 0, 0, 0, 1], showObject=True, showObjectScale=10) effector.addObject('RestShapeSpringsForceField', points=0, angularStiffness=1e5, stiffness=1e5) - effector.addObject('UncoupledConstraintCorrection', compliance=[1e-10] * 7) + effector.addObject('UncoupledConstraintCorrection', compliance='1e-10 1e-10 0 0 1e-10 0 1e-10 ') # Open maze planning from JSON file data = json.load(open('mazeplanning.json')) diff --git a/examples/tutorials/Tripod/myproject/maze.py b/examples/tutorials/Tripod/myproject/maze.py index 18c6e1f9..b751b25e 100644 --- a/examples/tutorials/Tripod/myproject/maze.py +++ b/examples/tutorials/Tripod/myproject/maze.py @@ -79,7 +79,7 @@ def createScene(rootNode): effector.addObject('MechanicalObject', template='Rigid3', name='goalMO', position=[0, 40, 0, 0, 0, 0, 1], showObject=True, showObjectScale=10) effector.addObject('RestShapeSpringsForceField', points=0, angularStiffness=1e5, stiffness=1e5) - effector.addObject('UncoupledConstraintCorrection', compliance=[1e-10] * 7) + effector.addObject('UncoupledConstraintCorrection', compliance='1e-10 1e-10 0 0 1e-10 0 1e-10 ') # Open maze planning from JSON file data = json.load(open('mazeplanning.json')) diff --git a/examples/tutorials/Tripod/myproject/parts/maze.py b/examples/tutorials/Tripod/myproject/parts/maze.py index 87d91c9b..9dba6ffc 100644 --- a/examples/tutorials/Tripod/myproject/parts/maze.py +++ b/examples/tutorials/Tripod/myproject/parts/maze.py @@ -57,7 +57,7 @@ def createScene(rootNode): effector.addObject('MechanicalObject', template='Rigid3', name='goalMO', position=[0, 40, 0, 0, 0, 0, 1], showObject=True, showObjectScale=10) effector.addObject('RestShapeSpringsForceField', points=0, angularStiffness=1e5, stiffness=1e5) - effector.addObject('UncoupledConstraintCorrection', compliance=[1e-10] * 7) + effector.addObject('UncoupledConstraintCorrection', compliance='1e-10 1e-10 0 0 1e-10 0 1e-10 ') # Open maze planning from JSON file data = json.load(open('../mazeplanning.json'))