[IRC] Reset the restPositions while fixed - make consistent StartPosition (#205)

* reset also the fixed rest positions

* Update src/BeamAdapter/component/controller/InterventionalRadiologyController.inl

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

* fix scenes, where the tool starting rotation is set ONLY in startingPos

* apply at init too

* regenerate references

---------

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

Author: fredroy

examples/3instruments.scn

@@ -65,7 +65,7 @@
             ymin='0' ymax='0'
             zmin='1' zmax='1'
 		/>
-		<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' ry='-90'/> 
+		<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' /> 
 
 		<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape'/> 
 		<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter'/> 

examples/SingleBeamDeployment.scn

@@ -31,12 +31,12 @@
         <RegularGridTopology name="MeshLines" nx="36" ny="1" nz="1"
                                     xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
                                     p0="0 0 0" drawEdges="1"/>
-        <MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" /> 
+        <MechanicalObject template="Rigid3d" name="DOFs Container" /> 
 
         <WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" />
         <AdaptiveBeamForceFieldAndMass name="BeamForceField" interpolation="@BeamInterpolation"/>
         <InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
-                                    topology="@MeshLines" startingPos="0 0 0 0 0 0 1" xtip="0" printLog="1" 
+                                    topology="@MeshLines" startingPos="0 0 0 0 -0.7071068 0 0.7071068" xtip="0" printLog="1" 
                                     rotationInstrument="0" step="0.5" speed="0.5" 
                                     listening="1" controlledInstrument="0"/>
         <FixedProjectiveConstraint name="FixedConstraint" indices="0" />

examples/SingleBeamDeploymentCollision.scn

@@ -49,12 +49,12 @@
         <RegularGridTopology name="MeshLines" nx="61" ny="1" nz="1"
                                     xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
                                     p0="0 0 0" drawEdges="1"/>
-        <MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" /> 
+        <MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90"/> 
 
         <WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape"/>
         <AdaptiveBeamForceFieldAndMass name="BeamForceField" interpolation="@BeamInterpolation"/>
         <InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
-                                    topology="@MeshLines" startingPos="0 0 0 0 0 0 1" xtip="0" printLog="1" 
+                                    topology="@MeshLines" startingPos="0 0 0  0 -0.7071068 0 0.7071068" xtip="0" printLog="1" 
                                     rotationInstrument="0" step="5" speed="5" 
                                     listening="1" controlledInstrument="0"/>
         <LinearSolverConstraintCorrection wire_optimization="true" printLog="0" />

examples/python3/SingleBeamDeployment.py

@@ -37,11 +37,11 @@ def createScene(rootNode):
                                     nx=61, ny=1, nz=1,
                                     xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0,
                                     p0=[0,0,0])
-    BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs Container', template='Rigid3d', ry=-90)
+    BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs Container', template='Rigid3d')
     BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False)
     BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation')
     BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation', 
-                                    topology="@MeshLines", startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0], printLog=True, 
+                                    topology="@MeshLines", startingPos=[0, 0, 0, 0, -0.7071068, 0, 0.7071068], xtip=[0], printLog=True, 
                                     rotationInstrument=[0], step=0.5, speed=0.5, 
                                     listening=True, controlledInstrument=0)
     BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')

examples/python3/SingleBeamDeploymentCollision.py

@@ -45,11 +45,11 @@ def createScene(rootNode):
                                     nx=61, ny=1, nz=1,
                                     xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0,
                                     p0=[0,0,0])
-    BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs', template='Rigid3d', ry=-90)
+    BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs', template='Rigid3d')
     BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False)
     BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation')
     BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation', 
-                                    topology="@MeshLines", startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0], printLog=True, 
+                                    topology="@MeshLines", startingPos=[0, 0, 0, 0, -0.7071068, 0, 0.7071068], xtip=[0], printLog=True, 
                                     rotationInstrument=[0], step=5., speed=5., 
                                     listening=True, controlledInstrument=0)
     BeamMechanics.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)