diff --git a/examples/tutorials/CableGripper/details/step0.py b/examples/tutorials/CableGripper/details/step0.py index 176fcda1..4e399a4b 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') + cube.addObject('UncoupledConstraintCorrection', defaultCompliance="0.00001") return rootNode diff --git a/examples/tutorials/CableGripper/details/step6.py b/examples/tutorials/CableGripper/details/step6.py index 176fcda1..4e399a4b 100644 --- a/examples/tutorials/CableGripper/details/step6.py +++ b/examples/tutorials/CableGripper/details/step6.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') + cube.addObject('UncoupledConstraintCorrection', defaultCompliance="0.00001") return rootNode diff --git a/examples/tutorials/FirstSteps/details/step1.py b/examples/tutorials/FirstSteps/details/step1.py index 331b1326..f3214c5c 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') + cube.addObject('UncoupledConstraintCorrection', defaultCompliance="0.00001") return rootNode diff --git a/examples/tutorials/FirstSteps/details/step3.py b/examples/tutorials/FirstSteps/details/step3.py index 745fce3c..96c333a7 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') + cube.addObject('UncoupledConstraintCorrection', defaultCompliance="0.00001") # Time integration and solver diff --git a/examples/tutorials/FirstSteps/details/step4.py b/examples/tutorials/FirstSteps/details/step4.py index 01c8d8a3..af16fc05 100644 --- a/examples/tutorials/FirstSteps/details/step4.py +++ b/examples/tutorials/FirstSteps/details/step4.py @@ -45,6 +45,6 @@ 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') + cube.addObject('UncoupledConstraintCorrection', defaultCompliance="0.00001") return rootNode diff --git a/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py b/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py index 802af23a..3b3a992b 100644 --- a/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py +++ b/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py @@ -49,7 +49,7 @@ def createScene(rootNode): cube.addObject('SparseLDLSolver', name='linearSolver') cube.addObject('MechanicalObject', template='Rigid3', position=[-100, 70, 0, 0, 0, 0, 1]) cube.addObject('UniformMass', totalMass=0.001) - cube.addObject('UncoupledConstraintCorrection') + cube.addObject('UncoupledConstraintCorrection', defaultCompliance="0.00001") # collision cubeCollis = cube.addChild('cubeCollis') diff --git a/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py b/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py index 76eb05c7..c4226883 100644 --- a/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py +++ b/examples/tutorials/PneunetGripper/details/step7-withSTLIB.py @@ -31,7 +31,7 @@ def createScene(rootNode): Floor(rootNode, **floorParam) cube = Cube(rootNode, **cubeParam) - cube.addObject('UncoupledConstraintCorrection') + cube.addObject('UncoupledConstraintCorrection', defaultCompliance="0.00001") 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 27564c6f..4aa09321 100644 --- a/examples/tutorials/Tripod/details/maze.py +++ b/examples/tutorials/Tripod/details/maze.py @@ -78,7 +78,7 @@ 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 1e-10 0 0 1e-10 0 1e-10 ') + effector.addObject('UncoupledConstraintCorrection', compliance='1e-10 1e-10 1e-10 1e-10 1e-10 1e-10 1e-10 ') # Open maze planning from JSON file data = json.load(open('mazeplanning.json')) diff --git a/examples/tutorials/Tripod/details/step6.py b/examples/tutorials/Tripod/details/step6.py index 0e27a7a6..8875bfb1 100644 --- a/examples/tutorials/Tripod/details/step6.py +++ b/examples/tutorials/Tripod/details/step6.py @@ -99,7 +99,7 @@ def createScene(rootNode): uniformScale=13., totalMass=0.032, isAStaticObject=True) - sphere.addObject('UncoupledConstraintCorrection') + sphere.addObject('UncoupledConstraintCorrection', defaultCompliance="0.00001") scene.Simulation.addChild(sphere) scene.Simulation.addChild(tripod) diff --git a/examples/tutorials/Tripod/myproject/maze.py b/examples/tutorials/Tripod/myproject/maze.py index 683c0738..c1be0e43 100644 --- a/examples/tutorials/Tripod/myproject/maze.py +++ b/examples/tutorials/Tripod/myproject/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 1e-10 0 0 1e-10 0 1e-10 ') + effector.addObject('UncoupledConstraintCorrection', compliance='1e-10 1e-10 1e-10 1e-10 1e-10 1e-10 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 9dba6ffc..0881c946 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 1e-10 0 0 1e-10 0 1e-10 ') + effector.addObject('UncoupledConstraintCorrection', compliance='1e-10 1e-10 1e-10 1e-10 1e-10 1e-10 1e-10 ') # Open maze planning from JSON file data = json.load(open('../mazeplanning.json')) diff --git a/examples/tutorials/Tripod/myproject/step6.py b/examples/tutorials/Tripod/myproject/step6.py index ea665ac6..5148011f 100644 --- a/examples/tutorials/Tripod/myproject/step6.py +++ b/examples/tutorials/Tripod/myproject/step6.py @@ -76,7 +76,7 @@ def createScene(rootNode): uniformScale=13., totalMass=0.032, isAStaticObject=True) - sphere.addObject('UncoupledConstraintCorrection') + sphere.addObject('UncoupledConstraintCorrection', defaultCompliance="0.00001") scene.Simulation.addChild(sphere) scene.Simulation.addChild(tripod)