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[scripts] Add option to display reference state along the simulation to visually compare them #88

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[scripts] Add option to display reference state along the simulation to visually compare them #88

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7ced7c9
Add verbose mode in Data
epernod Jan 14, 2026
aed79a7
Fix replay with gui
epernod Jan 14, 2026
f9d126c
Fix replay state using controller only and no compareState component …
epernod Jan 14, 2026
a614f06
some cleaning and use initRoot to avoid setting the bbox
epernod Jan 28, 2026
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57 changes: 46 additions & 11 deletions tools/RegressionSceneData.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,6 @@
import pathlib

import Sofa
import Sofa.Gui

debug_info = False

def is_simulated(node):
if node.hasODESolver():
Expand All @@ -23,6 +20,35 @@ def is_simulated(node):
return False


class ReplayState(Sofa.Core.Controller):
def __init__(self, node, slave_mo, state_filename, **kwargs):
super().__init__(**kwargs)
self.node = node
self.slave_mo = slave_mo
self.keyframes = []
self.frame_step = 0
self.t_sim = 0.0

with gzip.open(state_filename, 'r') as zipfile:
self.ref_data = json.loads(zipfile.read().decode('utf-8'))
for key in self.ref_data:
self.keyframes.append(float(key))

if (self.keyframes[0] == 0.0): # frame 0.0
tmp_position = np.asarray(self.ref_data[str(self.keyframes[0])])
self.slave_mo.position = tmp_position.tolist()
self.frame_step = 1

def onAnimateEndEvent(self, event):
dt = float(self.node.getRootContext().dt.value)
self.t_sim += dt

if abs(self.t_sim - self.keyframes[self.frame_step]) < 0.000001:
tmp_position = np.asarray(self.ref_data[str(self.keyframes[self.frame_step])])
self.slave_mo.position = tmp_position.tolist()
self.frame_step += 1


class NumpyArrayEncoder(JSONEncoder):
def default(self, obj):
if isinstance(obj, np.ndarray):
Expand All @@ -32,7 +58,7 @@ def default(self, obj):

class RegressionSceneData:
def __init__(self, file_scene_path: str = None, file_ref_path: str = None, steps = 1000,
epsilon = 0.0001, meca_in_mapping = True, dump_number_step = 1, disable_progress_bar = False):
epsilon = 0.0001, meca_in_mapping = True, dump_number_step = 1, disable_progress_bar = False, verbose = False):
"""
/// Path to the file scene to test
std::string m_fileScenePath;
Expand Down Expand Up @@ -63,6 +89,7 @@ def __init__(self, file_scene_path: str = None, file_ref_path: str = None, steps
self.regression_failed = False
self.root_node = None
self.disable_progress_bar = disable_progress_bar
self.verbose = verbose

def print_info(self):
print("Test scene: " + self.file_scene_path + " vs " + self.file_ref_path + " using: " + str(self.steps)
Expand Down Expand Up @@ -99,9 +126,13 @@ def parse_node(self, node, level = 0):
def add_compare_state(self):
counter = 0
for meca_obj in self.meca_objs:
_filename = self.file_ref_path + ".reference_" + str(counter) + "_" + meca_obj.name.value + "_mstate" + ".txt.gz"
# Use this filename format to be compatible with previous version
#_filename = self.file_ref_path + ".reference_" + str(counter) + "_" + meca_obj.name.value + "_mstate" + ".txt.gz"
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@hugtalbot hugtalbot Jan 22, 2026

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Suggested change
#_filename = self.file_ref_path + ".reference_" + str(counter) + "_" + meca_obj.name.value + "_mstate" + ".txt.gz"

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@epernod epernod Jan 28, 2026

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I would like to keep this one, I added a comment above why

_filename = self.file_ref_path + ".reference_mstate_" + str(counter) + "_" + meca_obj.name.value + ".json.gz"

meca_obj.getContext().addObject('CompareState', filename=_filename)
compareNode = meca_obj.getContext().addChild("CompareStateNode_"+str(counter))
cloudPoint = compareNode.addObject('VisualPointCloud', pointSize=10, drawMode="Point", color="green")
compareNode.addObject(ReplayState(node=compareNode, slave_mo=cloudPoint, state_filename=_filename))
counter = counter+1


Expand All @@ -120,7 +151,7 @@ def load_scene(self):
print(f'Error while trying to load {self.file_scene_path}')
raise RuntimeError
else:
Sofa.Simulation.init(self.root_node)
Sofa.Simulation.initRoot(self.root_node)

# prepare ref files per mecaObjs:
self.parse_node(self.root_node, 0)
Expand Down Expand Up @@ -217,7 +248,7 @@ def compare_references(self):
full_dist = np.linalg.norm(data_diff)
error_by_dof = full_dist / float(data_diff.size)

if debug_info:
if self.verbose:
print (str(step) + "| " + self.meca_objs[meca_id].name.value + " | full_dist: " + str(full_dist) + " | error_by_dof: " + str(error_by_dof) + " | nbrDofs: " + str(data_ref.size))

self.total_error[meca_id] = self.total_error[meca_id] + full_dist
Expand All @@ -243,10 +274,14 @@ def compare_references(self):
return True


def replayReferences(self):
Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
def replay_references(self):

# Import the GUI package
import SofaImGui
import Sofa.Gui
Sofa.Gui.GUIManager.Init("myscene", "imgui")
Sofa.Gui.GUIManager.createGUI(self.root_node, __file__)
Sofa.Gui.GUIManager.SetDimension(1080, 1080)
Sofa.Gui.GUIManager.SetDimension(1920, 1080)
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@hugtalbot hugtalbot Jan 22, 2026

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Is this necessary ?

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@epernod epernod Jan 28, 2026

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no idea it is a copy past from other projects

Sofa.Gui.GUIManager.MainLoop(self.root_node)
Sofa.Gui.GUIManager.closeGUI()

Expand Down
3 changes: 2 additions & 1 deletion tools/RegressionSceneList.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ def process_file(self):
if len(values) == 5:
scene_data = RegressionSceneData.RegressionSceneData(full_file_path, full_ref_file_path,
values[1], values[2], values[3], values[4],
self.disable_progress_bar)
self.disable_progress_bar, self.verbose)

#scene_data.printInfo()
self.scenes_data_sets.append(scene_data)
Expand Down Expand Up @@ -119,6 +119,7 @@ def compare_all_references(self):

def replay_references(self, id_scene):
self.scenes_data_sets[id_scene].load_scene()
self.scenes_data_sets[id_scene].add_compare_state()
self.scenes_data_sets[id_scene].replay_references()