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[Scenes] Fix runtime warnings, and consistent behavior between python and xml #179

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Merged
epernod merged 4 commits into from
May 2, 2025
Merged

[Scenes] Fix runtime warnings, and consistent behavior between python and xml #179

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5713300
fix warnings, behavior in scenes
fredroy Apr 23, 2025
c865adb
remove nbBeams deprecation msg and nb nodes/edges warnings
fredroy Apr 29, 2025
3cdf9bc
fix regression tests
fredroy Apr 29, 2025
d520366
remove info msg about topology
fredroy Apr 29, 2025
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16 changes: 8 additions & 8 deletions examples/3instruments.scn
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Original file line number Diff line number Diff line change
Expand Up @@ -19,11 +19,11 @@
<DefaultVisualManagerLoop/>


<!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) ------------------------------ -->
<!-- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) -->

<Node name='topoLines_cath'>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="40" nbEdgesVisu="120" length="600.0" radius='1'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0" radius='1'/>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbBeams="40" nbEdgesCollis="40" nbEdgesVisu="120" length="600.0" radius='1'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' nbBeams="20" nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0" radius='1'/>

<WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -33,8 +33,8 @@
<MechanicalObject template='Rigid3d' name='dofTopo1' />
</Node>
<Node name='topoLines_guide'>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="50" nbEdgesVisu="196" length="980.0" radius='0.9'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0" radius='0.9'/>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbBeams="50" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0" radius='0.9'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' nbBeams="10" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0" radius='0.9'/>

<WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -44,8 +44,8 @@
<MechanicalObject template='Rigid3d' name='dofTopo2' />
</Node>
<Node name='topoLines_coils'>
<RodStraightSection name="StraightSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="360" length="540.0" radius='0.1'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0" radius='0.1'/>
<RodStraightSection name="StraightSection" youngModulus="168000" massDensity='0.000021' nbBeams="30" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0" radius='0.1'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="168000" massDensity='0.000021' nbBeams="30" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0" radius='0.1'/>

<WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -60,7 +60,7 @@
<EulerImplicitSolver rayleighStiffness='0.2' rayleighMass='0.1' printLog='false' />
<BTDLinearSolver subpartSolve='0' verification='0' verbose='0'/>
<RegularGridTopology name='meshLinesCombined'
nx='180' ny='1' nz='1'
nx='181' ny='1' nz='1'
xmin='0.0' xmax='1.0'
ymin='0' ymax='0'
zmin='1' zmax='1'
Expand Down
37 changes: 22 additions & 15 deletions examples/3instruments_collis.scn
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Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,11 @@
<LocalMinDistance name="localmindistance" alarmDistance="2" contactDistance="1" angleCone="0.5" coneFactor="0.5" />
<CollisionResponse name="Response" response="FrictionContactConstraint" />

<!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) ------------------------------ -->
<!-- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) -->

<Node name="topoLines_cath">
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbEdgesCollis="40" nbEdgesVisu="220" length="600.0"/><!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbEdgesCollis="10" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbBeams="40" nbEdgesCollis="40" nbEdgesVisu="220" length="600.0"/><!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbBeams="10" nbEdgesCollis="10" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/> <!-- silicone -->

Expand All @@ -49,8 +49,8 @@
<MechanicalObject template="Rigid3d" name="dofTopo1" />
</Node>
<Node name="topoLines_guide">
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbBeams="50" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbBeams="10" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -60,8 +60,8 @@
<MechanicalObject template="Rigid3d" name="dofTopo2" />
</Node>
<Node name="topoLines_coils">
<RodStraightSection name="StraightSection" youngModulus="168000" massDensity="0.000021" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="168000" massDensity="0.000021" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>
<RodStraightSection name="StraightSection" youngModulus="168000" massDensity="0.000021" radius="0.1" nbBeams="30" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="168000" massDensity="0.000021" radius="0.1" nbBeams="30" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>

<WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand Down Expand Up @@ -142,14 +142,21 @@
</Node>
</Node>

<Node name="CollisionModel">
<MeshOBJLoader name="meshLoader" filename="mesh/phantom.obj" triangulate="true" flipNormals="1"/>
<MeshTopology position="@meshLoader.position" triangles="@meshLoader.triangles"/>
<MechanicalObject name="DOFs1" position="0 0 400" scale="3" ry="90"/>
<TriangleCollisionModel simulated="0" moving="0"/>
<LineCollisionModel simulated="0" moving="0"/>
<PointCollisionModel simulated="0" moving="0"/>
<OglModel name="Visual" src="@meshLoader" color="1 0 0 0.3" scale="3" ry="90"/>
<Node name="VesselsPhantom">
<MeshOBJLoader name="meshLoader" filename="mesh/phantom.obj" triangulate="true" flipNormals="1" scale="3" rotation="0 90 0"/>

<Node name="Collision">
<MeshTopology position="@../meshLoader.position" triangles="@meshLoader.triangles"/>
<MechanicalObject name="DOFs1"/>
<TriangleCollisionModel simulated="0" moving="0"/>
<LineCollisionModel simulated="0" moving="0"/>
<PointCollisionModel simulated="0" moving="0"/>
</Node>

<Node name="Visual">
<OglModel name="Visual" src="@../meshLoader" color="1 0 0 0.3" />
</Node>

</Node>

</Node>
6 changes: 3 additions & 3 deletions examples/SingleBeamDeployment.scn
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Expand Up @@ -15,8 +15,8 @@
<DefaultVisualManagerLoop />

<Node name="EdgeTopology">
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" nbEdgesCollis="30" nbEdgesVisu="196" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" nbEdgesCollis="5" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" nbBeams="30" nbEdgesCollis="30" nbEdgesVisu="196" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" nbBeams="5" nbEdgesCollis="5" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="BeamRestShape" printLog="1" wireMaterials="@StraightSection @SpireSection"/>
<EdgeSetTopologyContainer name="meshLinesBeam"/>
Expand All @@ -36,7 +36,7 @@
<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" />
<AdaptiveBeamForceFieldAndMass name="BeamForceField" interpolation="@BeamInterpolation"/>
<InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
startingPos="0 0 0 0 0 0 1" xtip="0 0 0" printLog="1"
topology="@MeshLines" startingPos="0 0 0 0 0 0 1" xtip="0 0 0" printLog="1"
rotationInstrument="0 0 0" step="0.5" speed="0.5"
listening="1" controlledInstrument="0"/>
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
Expand Down
6 changes: 3 additions & 3 deletions examples/SingleBeamDeploymentCollision.scn
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Expand Up @@ -32,8 +32,8 @@


<Node name="EdgeTopology">
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" poissonRatio="0.3" nbEdgesCollis="50" nbEdgesVisu="200" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" poissonRatio="0.3" nbEdgesCollis="10" nbEdgesVisu="200" length="20.0" spireDiameter="25" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" poissonRatio="0.3" nbBeams="50" nbEdgesCollis="50" nbEdgesVisu="200" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" poissonRatio="0.3" nbBeams="10" nbEdgesCollis="10" nbEdgesVisu="200" length="20.0" spireDiameter="25" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="BeamRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -54,7 +54,7 @@
<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" interpolation="@BeamInterpolation"/>
<InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
startingPos="0 0 0 0 0 0 1" xtip="0 0 0" printLog="1"
topology="@MeshLines" startingPos="0 0 0 0 0 0 1" xtip="0 0 0" printLog="1"
rotationInstrument="0 0 0" step="5" speed="5"
listening="1" controlledInstrument="0"/>
<LinearSolverConstraintCorrection wire_optimization="true" printLog="0" />
Expand Down
6 changes: 3 additions & 3 deletions examples/Tool_from_loader.scn
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Expand Up @@ -25,8 +25,8 @@
<Node name="GuideCatheter">
<MeshOBJLoader name="loader" filename="mesh/key_tip.obj" />

<RodStraightSection name="StraightSection" youngModulus="1000000" poissonRatio="0.3" radius="0.05" massDensity="0.1" nbEdgesCollis="30" nbEdgesVisu="200" length="980.0"/>
<RodMeshSection name="MeshTipSection" loader="@loader" nbEdgesCollis="300" nbEdgesVisu="300" radius="0.05" massDensity="0.1" youngModulus="1000000" poissonRatio="0.3"/>
<RodStraightSection name="StraightSection" youngModulus="1000000" poissonRatio="0.3" massDensity="0.00000155" radius="0.05" nbBeams="30" nbEdgesCollis="30" nbEdgesVisu="200" length="980.0"/>
<RodMeshSection name="MeshTipSection" loader="@loader" youngModulus="1000000" poissonRatio="0.3" massDensity="0.00000155" radius="0.05" nbBeams="300" nbEdgesCollis="300" nbEdgesVisu="300" />

<WireRestShape template="Rigid3d" name="GC_RestShape" printLog="false" wireMaterials="@StraightSection @MeshTipSection" />

Expand All @@ -39,7 +39,7 @@
<Node name="Instrument">
<EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" />
<BTDLinearSolver />
<RegularGridTopology name="MeshLines" nx="330" ny="1" nz="1"
<RegularGridTopology name="MeshLines" nx="331" ny="1" nz="1"
xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
p0="0 0 0" drawEdges="0"/>

Expand Down
12 changes: 6 additions & 6 deletions examples/python3/SingleBeamDeployment.py
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Expand Up @@ -12,14 +12,14 @@ def createScene(rootNode):
topoLines = rootNode.addChild('EdgeTopology')
topoLines.addObject('RodStraightSection', name='StraightSection',
length=980.0, radius=0.9,
nbEdgesCollis=30, nbEdgesVisu=196,
youngModulus=20000)
nbBeams=30, nbEdgesCollis=30, nbEdgesVisu=196,
youngModulus=20000, massDensity=0.00000155)

topoLines.addObject('RodSpireSection', name='SpireSection',
length=20.0, radius=0.9,
nbEdgesCollis=5, nbEdgesVisu=4,
nbBeams=5, nbEdgesCollis=5, nbEdgesVisu=4,
spireDiameter=25, spireHeight=0,
youngModulus=20000)
youngModulus=20000, massDensity=0.00000155)
topoLines.addObject('WireRestShape', name='BeamRestShape', template="Rigid3d",
wireMaterials="@StraightSection @SpireSection")

Expand All @@ -34,14 +34,14 @@ def createScene(rootNode):
BeamMechanics.addObject('EulerImplicitSolver', rayleighStiffness=0.2, printLog=False, rayleighMass=0.1)
BeamMechanics.addObject('BTDLinearSolver', verification=False, subpartSolve=False, verbose=False)
BeamMechanics.addObject('RegularGridTopology', name='MeshLines', drawEdges=True,
nx=60, ny=1, nz=1,
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('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',
startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True,
topology="@MeshLines", startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True,
rotationInstrument=[0, 0, 0], step=0.5, speed=0.5,
listening=True, controlledInstrument=0)
BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')
Expand Down
12 changes: 6 additions & 6 deletions examples/python3/SingleBeamDeploymentCollision.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,14 +20,14 @@ def createScene(rootNode):
topoLines = rootNode.addChild('EdgeTopology')
topoLines.addObject('RodStraightSection', name='StraightSection',
length=980.0, radius=0.9,
nbEdgesCollis=50, nbEdgesVisu=200,
youngModulus=20000, massDensity=0.1, poissonRatio=0.3)
nbBeams=50, nbEdgesCollis=50, nbEdgesVisu=200,
youngModulus=20000, massDensity=0.00000155, poissonRatio=0.3)

topoLines.addObject('RodSpireSection', name='SpireSection',
length=20.0, radius=0.9,
nbEdgesCollis=10, nbEdgesVisu=200,
nbBeams=10, nbEdgesCollis=10, nbEdgesVisu=200,
spireDiameter=25, spireHeight=0,
youngModulus=20000, massDensity=0.1, poissonRatio=0.3)
youngModulus=20000, massDensity=0.00000155, poissonRatio=0.3)
topoLines.addObject('WireRestShape', name='BeamRestShape', template="Rigid3d",
wireMaterials="@StraightSection @SpireSection")

Expand All @@ -42,14 +42,14 @@ def createScene(rootNode):
BeamMechanics.addObject('EulerImplicitSolver', rayleighStiffness=0.2, rayleighMass=0.1)
BeamMechanics.addObject('BTDLinearSolver', verification=False, subpartSolve=False, verbose=False)
BeamMechanics.addObject('RegularGridTopology', name='MeshLines',
nx=60, ny=1, nz=1,
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('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',
startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True,
topology="@MeshLines", startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True,
rotationInstrument=[0, 0, 0], step=5., speed=5.,
listening=True, controlledInstrument=0)
BeamMechanics.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
Expand Down
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