Merge master into pr-add-tests #156
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Fix module name
…nd clean scene (#117) * Clean tuto scenes * Rename the docs folder to tutorial and testScene to tutorial_scenes and clean up some scenes.
Remove references to python (2)
Fix aliases due to SOFA changes
* try to fix a bad merge * Update examples/python3/cosserat/cosseratObject.py Co-authored-by: Alex Bilger <[email protected]> * Update examples/python3/cosserat/cosseratObject.py --------- Co-authored-by: Alex Bilger <[email protected]>
* Fix compilation with Softrobots * add more info in cmake
Fix compilation after rename
…129) * Bump actions/download-artifact from 2 to 4.1.7 in /.github/workflows Bumps [actions/download-artifact](https://github.com/actions/download-artifact) from 2 to 4.1.7. - [Release notes](https://github.com/actions/download-artifact/releases) - [Commits](actions/download-artifact@v2...v4.1.7) --- updated-dependencies: - dependency-name: actions/download-artifact dependency-type: direct:production ... Signed-off-by: dependabot[bot] <[email protected]> * fix after change of version --------- Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Alex Bilger <[email protected]>
Fix all broken links
* update python prefabs * fix bugs and update test scene. * Deprecate CosseratObject class and warn users to use CosseratBase instead. * update previois psg
* cleaning * Remove debug Data * Remove countless aliases * useless protected
Remove unused import of gmsh
… rename file (#147) * update python prefabs * Refactor PCS_Example3.py: Remove unused code, fix variable names, and rename file - Renamed `wip/PCS_Example3.py` to `PCS_Example3.py` for clarity and organization. - Removed commented-out and unused code for better readability. - Fixed variable name `force` to `forces` and corrected index handling in `ForceController`. - Adjusted references from `nonLinearCosserat` to `PCS_Cosserat`. * Refactor PCS_Example3.py: Remove unused code, fix variable names, and rename file
* Apply new registration mechanism * Add soft robot registering * remove inconsistent comments * restore the previous formatting * cleaning * more cleaning --------- Co-authored-by: Alex Bilger <[email protected]>
Update runner from macos-12 to macos-13 because it is deprecated
* rename doSetup & doTeardDown to keep change in sofa
…ping components (#150) * Resolve remaining bugs related to SoftRobot plugin compilation issues. * update python prefabs * fix bugs due to Sofa Update * fix bugs due to Sofa Update * Refactor Cosserat prefab to remove visualization parameters and simplify object creation * -----> qwen2 Simplify BeamGeometryParameters by removing unnecessary attributes and defaults. * -----> qwen2 Refactor: Move rigid node creation to `utils.py` and simplify `CosseratBase`. * Refactor naming consistency and update parameters in BeamPhysicsParameters and Cosserat prefab * Rename parameter data class for prefab use case" * Refactoring Refactor: Move rigid node creation to `utils.py` and simplify `CosseratBase`. * Refactor naming consistency and update parameters in BeamPhysicsParameters and Cosserat prefab * Rename parameter data class for prefab use case" * cleanning prefab Cleanning the prefab class and update the test scene regarding * code cleanning * clean tuto scenes * update tuto3 scene regarding the modification of cosserat's prefab * Add beam structure with points and controller for cable actuation Let me know if you'd like to refine this further! * 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. * Refactor CosseratBase and tutorial scenes to update parameter handling and fix typos - Changed 'beam_params' to 'params' in CosseratBase for better clarity. - Updated parameter references in tutorial scenes (tuto_4.py, tuto_5.py) to match new naming conventions. - Refined BeamPhysicsParameters to use NoInertia where applicable. - Fixed typos (e.g., 'rotateFromEuler' comment and variable names like 'nbFrames' to 'nb_frames'). - Added rigid base spring force field in CosseratBase for better beam control. - Organized imports and cleaned up unused variables in the tutorial scenes. * Refactor CosseratBase and tutorial scenes to update parameter handling and fix typos * Enhance FEM object integration and update beam parameters Modify addFEMObject function to return solver and points nodes Update beam parameters in tutorial scenes (tuto_3, tuto_4, tuto_5) Refactor FEM object creation in tuto_5 scene Adjust cable constraint parameters and mapping in tuto_5 Minor code cleanup and parameter naming consistency improvements * Fix logging in SparseLDLSolver and update gravity in tutorial - Disabled `printLog` in `SparseLDLSolver` within `header.py` for cleaner output. - Set `root_node.gravity` to `[0, -9.81, 0]` in `tuto_5.py` for realistic gravitational effect. - Added flexibility in constraint setup for `cable_node` by introducing `is_constrained` parameter. - Included missing `return root_node` statement to ensure complete scene creation in `createScene()`. * enhance and restructure FEM mesh handling and visualization Added new functions attach_mesh_with_springs, attach_3d_points_to_meca_with_barycentric_mapping, and add_finger_mesh_force_field_Object to modularize and simplify FEM mesh handling and visualization. Introduced show_mecha_visual for toggling visibility of mechanical objects and indices. Replaced addFEMObject with add_finger_mesh_force_field_Object for improved clarity and functionality. Updated tuto_5.py to utilize new FEM mesh functions, enabling better integration and enhanced visualization. Removed redundant code and refactored solver and geometry attachment logic for better maintainability. * Apply new registration mechanism * Refactor PCS_Example3.py: Remove unused code, fix variable names, and rename file - Renamed `wip/PCS_Example3.py` to `PCS_Example3.py` for clarity and organization. - Removed commented-out and unused code for better readability. - Fixed variable name `force` to `forces` and corrected index handling in `ForceController`. - Adjusted references from `nonLinearCosserat` to `PCS_Cosserat`. * Refactor Cosserat framework mappings and force field logic BeamHookeLawForceField: Updated d_length initialization to accommodate a list of beam section lengths. Enhanced descriptions and parameter names for clarity. Mapping Adjustments: Replaced references to m_toModel, m_fromModel1, and m_fromModel2 with m_global_frames and m_rigid_base for consistent frame management. Consolidated updates to geometry info with streamlined frame initialization in update_geometry_info. Refined handling of Cosserat states and strain computations. DiscreteDynamicCosseratMapping: Reorganized tangent exponential computations and applied corrections to read positions from updated data structures. Minor cleanup of unused code and obsolete comments. Other Improvements: Transitioned to more descriptive variable and function names. Removed redundant frame computations and added multithreading placeholder. Addressed TODOs where feasible to enhance maintainability. * refactor(mapping): improve documentation and code organization in mapping components * Enhance Cosserat Mapping Components for Better Usability and Maintainability * remove namespace comment * remove empty line * add const * reformat * reformat * remove unwanted comment * restore previous condition * reformat * restore SOFA_COSSERAT_API * reformat * reformat --------- Co-authored-by: bakpaul <[email protected]> Co-authored-by: Alex Bilger <[email protected]>
[ci] adds nightly build and changes to macos-14
Apply changes from SOFA PR 5666 regarding GenericConstraintSolver
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