Actuator.py

import Sofa
from fingerController import FingerController #for keyboard controlling
#from timerreset import FingerController   #Uncomment to perform timed measurements(increases of 5kPa every 2 seconds)
from loopstest_function_param3 import looptest #algorithm for generating the fiber loops


def createScene(rootNode):
    rootNode.addObject('RequiredPlugin', pluginName=['SoftRobots','Sofa.Component.SolidMechanics.FEM.HyperElastic'])
    
    rootNode.addObject('VisualStyle',displayFlags='showBehavior')
    rootNode.gravity.value = [-9810, 0, 0]
    rootNode.addObject('FreeMotionAnimationLoop')
    rootNode.addObject('GenericConstraintSolver', tolerance=1e-9, maxIterations=50000)
    rootNode.addObject('EulerImplicitSolver', name='odesolver', rayleighStiffness=0.01, rayleighMass=0.01)

    finger = rootNode.addChild('finger')
    finger.addObject('SparseLDLSolver')
    finger.addObject('MeshGmshLoader', name='loader', filename='data/mesh/act23mmwithconnector.msh', rotation=[90,0,-90],translation=[22.5,0,0])
    #finger.addObject('MeshGmshLoader', name='loader', filename='data/mesh/act23mmwithconnector075.msh', rotation=[90,0,-90],translation=[22.5,0,0])# use a finer mesh setting

    finger.addObject('MeshTopology', src='@loader', name='container')
    finger.addObject('MechanicalObject', name='tetras', template='Vec3', showObject=False, showObjectScale=1)
    youngModulus=263.8
    poissonRatio=0.49
    mu_ = youngModulus/(2*(1+poissonRatio))
    k0_ = youngModulus/(3*(1-2*poissonRatio))
    finger.addObject('TetrahedronHyperelasticityFEMForceField', materialName="NeoHookean", ParameterSet=str(mu_) + " " + str(k0_))
    #finger.addObject('TetrahedronHyperelasticityFEMForceField',template='Vec3', name="HyperElasticMaterial", materialName="NeoHookean", ParameterSet="3448.2 31034.4")
    #finger.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.45,
                     #youngModulus=263.8)
    finger.addObject('UniformMass', totalMass=0.0008)
    finger.addObject('BoxROI', name='boxROISubTopo', box=[23, -10, -8, 26, 10, 8], strict=False, drawBoxes=True)
    finger.addObject('BoxROI', name='boxROISubTopo2', box=[0, -10, -4, 28, 10, -2], strict=False, drawBoxes=True)
    finger.addObject('BoxROI', name='boxROI', box=[-2, -10, -20, 2, 10, 20], drawBoxes=True)
    finger.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
    finger.addObject('LinearSolverConstraintCorrection')
    #Plastic Part
    modelSubTopo = finger.addChild('modelSubTopo')
    modelSubTopo.addObject('MeshTopology', position='@loader.position', tetrahedra='@boxROISubTopo.tetrahedraInROI',
                           name='container')
    modelSubTopo.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.3,
                           youngModulus=4400000)

    # Parameters for the fiber reinforcement 
    loopnum=8 #number of loops
    int=3 #distance between fiber loops.
    loops, spring_set, indices1, indices2,lengths = looptest(int, loopnum) 
    hitching = finger.addChild("hitching") #fiber string that crosses the actuator transversally
    #nbDOFs = 10
    Ks=1e7 #spring stinffness
    Kd=5
    

    #Hitching (transversal fiber)

    hitching.addObject("MechanicalObject", template="Vec3", name="DOF",
                    position=[[(i)*int+1, 0, -4] for i in range(loopnum)],
                    showObject=True, showObjectScale=1)
    hitching.addObject('MeshTopology', name='lines', lines=[[i, i + 1] for i in range(loopnum-1)])
    hitching.addObject("StiffSpringForceField", template="Vec3d", name="springs", showArrowSize=0.5, drawMode=1,
                   stiffness=Ks,damping=Kd, indices1=[0,1,2,3,4,5,6], indices2=[1,2,3,4,5,6,7], lengths=int)
    hitching.addObject('BarycentricMapping', name='mapping')
    hitching.addObject('UniformMass', totalMass=0.0008)

    #Mapping 

    #hitching.addObject("FixedConstraint", name="FixedConstraint", indices=[0]) 
            
    # finger.addObject('MechanicalMatrixMapper', template="Vec3,Vec3",
    #                nodeToParse=hitching.getLinkPath(),  # where to find the forces to map
    #                object1=finger.tetras.getLinkPath())  # in case of multi-mapping, here you can give the second parent

    # Fiber Loops


    for k in range(0,loopnum):
        fiber = finger.addChild("fiber"+str(k))
        fiber.addObject("MechanicalObject", template="Vec3", name="DOF",
                        position=loops[k],
                        showObject=True, showObjectScale=1)
        fiber.addObject('MeshTopology', name='lines', lines=[[i, i + 1] for i in range(loopnum)])
        
        #fiber.addObject("FixedConstraint", name="FixedConstragetLinkPathint", indices=[0])
        fiber.addObject("SpringForceField", template="Vec3d", name="springs", showArrowSize=0.5, drawMode=1,
                        stiffness=Ks, damping=Kd, indices1=indices1, indices2=indices2, lengths=lengths)

        # Mapping 

        fiber.addObject('BarycentricMapping', name='mapping')
        # finger.addObject("MechanicalMatrixMapper", template="Vec3,Vec3",name="MechanicalMatrixMapper"+str(k), 
        #                 nodeToParse=fiber.getLinkPath(), 
        #                 object1=finger.tetras.getLinkPath(),
        #                 object2=hitching.DOF.getLinkPath()) 
                        
    # Air Chamber(cavity)

    tracker=finger.addChild("tracker") #trackers  for measuring bending angle
    tracker.addObject("MechanicalObject", template="Vec3", name="DOF",
                    position=[[29,0,-4],[31,0,-4]],
                    showObject=True, showObjectScale=1, drawMode=1)
    tracker.addObject("MeshTopology", name="points", points=[[29,0,0],[31,0,0]])
    tracker.addObject('BarycentricMapping', name='mapping')

    #air Pressure Cavity. Note: 0.1=10kPa
    cavity = finger.addChild('cavity')
    cavity.addObject('MeshSTLLoader', name='cavityLoader', filename='data/mesh/CHAMBER20mm-075mm.stl', rotation=[90,0,90])
    cavity.addObject('MeshTopology', src='@cavityLoader', name='cavityMesh')
    cavity.addObject('MechanicalObject', name='cavity')
    cavity.addObject('SurfacePressureConstraint', name='SurfacePressureConstraint', template='Vec3', value=0,
                     triangles='@cavityMesh.triangles', valueType='pressure')
    cavity.addObject('BarycentricMapping', name='mapping')

    rootNode.addObject(FingerController(rootNode))