update python prefabs #125
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Resolve remaining bugs related to SoftRobot plugin compilation issues…
….Cosserat into update_python_prefabs
…ify object creation
Simplify BeamGeometryParameters by removing unnecessary attributes and defaults.
Refactor: Move rigid node creation to `utils.py` and simplify `CosseratBase`.
…eters and Cosserat prefab
Refactor: Move rigid node creation to `utils.py` and simplify `CosseratBase`.
…eters and Cosserat prefab
Cleanning the prefab class and update the test scene regarding
…te_python_prefabs
Let me know if you'd like to refine this further!
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.
…g 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.
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
- 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()`.
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.
alxbilger
reviewed
Dec 3, 2024
… 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`.
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