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[scene] Introducing motion automation for all scenes (with or without haptics) using Read & Write State components #71

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Merged
epernod merged 2 commits into from
Aug 18, 2025
Merged

[scene] Introducing motion automation for all scenes (with or without haptics) using Read & Write State components #71

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c3ebb86
[scene] Automated motion in all scenes using Write/Read state components
th-skam Aug 13, 2025
b2b50d1
[scene] Reduced stiffness of rest-shape-springs-ff in haptics example…
th-skam Aug 14, 2025
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7 changes: 6 additions & 1 deletion scenes/InsertionHaptics_Box.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@ def createScene(root):
'ConstraintGeometry',
'Geomagic',
'Sofa.Component.Haptics',
'Sofa.Component.Playback'
])


Expand All @@ -76,12 +77,16 @@ def createScene(root):
, orientationBase=[0, 0.174, 0, -0.985]
)
toolController.addObject("MechanicalObject", name="mstate_baseMaster"
, position="@GeomagicDevice.positionDevice"
#, position="@GeomagicDevice.positionDevice"
, position="@reader.position"
, template="Rigid3d"
, showObjectScale=0.01
, showObject=False
, drawMode=1
)
#toolController.addObject("WriteState", name="writer", filename="RecordState/Haptics_Box.txt"
# , period=0.01, writeX=True, writeV=True, time=0)
toolController.addObject("ReadState", name="reader", filename="RecordState/Haptics_Box.txt")

needle = root.addChild("Needle")
needle.addObject("EulerImplicitSolver", firstOrder=True)
Expand Down
11 changes: 8 additions & 3 deletions scenes/InsertionHaptics_Liver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,8 @@ def createScene(root):
'ConstraintGeometry',
'Geomagic',
'Sofa.Component.Haptics',
'Sofa.Component.IO.Mesh'
'Sofa.Component.IO.Mesh',
'Sofa.Component.Playback'
])


Expand All @@ -77,12 +78,16 @@ def createScene(root):
, orientationBase=[0, 0.174, 0, -0.985]
)
toolController.addObject("MechanicalObject", name="mstate_baseMaster"
, position="@GeomagicDevice.positionDevice"
#, position="@GeomagicDevice.positionDevice"
, position="@reader.position"
, template="Rigid3d"
, showObjectScale=0.01
, showObject=False
, drawMode=1
)
#toolController.addObject("WriteState", name="writer", filename="RecordState/Haptics_Liver.txt"
# , period=0.01, writeX=True, writeV=True, time=0)
toolController.addObject("ReadState", name="reader", filename="RecordState/Haptics_Liver.txt")

needle = root.addChild("Needle")
needle.addObject("EulerImplicitSolver", firstOrder=True)
Expand Down Expand Up @@ -165,7 +170,7 @@ def createScene(root):
volume.addObject("MeshMatrixMass", name="Mass",totalMass=g_gelTotalMass)

volume.addObject("BoxROI",name="BoxROI",box=g_gelFixedBoxROI)
volume.addObject("RestShapeSpringsForceField", stiffness=1e6,points="@BoxROI.indices" )
volume.addObject("RestShapeSpringsForceField", stiffness=1e3, angularStiffness=1e3, points="@BoxROI.indices" )

volume.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver")

Expand Down
20 changes: 13 additions & 7 deletions scenes/NeedleInsertion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@ def createScene(root):
'Sofa.GL.Component.Rendering3D',
'Sofa.GUI.Component',
'Sofa.Component.Engine.Select',
'Sofa.Component.Playback',
'MultiThreading',
'CollisionAlgorithm',
'ConstraintGeometry'
Expand All @@ -63,13 +64,18 @@ def createScene(root):
root.addObject("CollisionLoop")

needleBaseMaster = root.addChild("NeedleBaseMaster")
needleBaseMaster.addObject("MechanicalObject", name="mstate_baseMaster", position=[0.04, 0.04, 0, 0, 0, 0, 1], template="Rigid3d", showObjectScale=0.002, showObject=False, drawMode=1)
needleBaseMaster.addObject("LinearMovementProjectiveConstraint",indices=[0], keyTimes=[0,1,7,9],movements=
[ [0.04, 0.04,0,0,0,0]
, [0.04, 0.04,0.05,0,3.14/2,0]
, [0.04, 0.04,-0.07,0,3.14/2,0]
, [0.05, 0.04,-0.07,0,3.14/2 + 3.14/16,0]
],relativeMovements=False)
needleBaseMaster.addObject("MechanicalObject", name="mstate_baseMaster", template="Rigid3d", showObjectScale=0.002, showObject=False, drawMode=1
#, position=[0.04, 0.04, 0, 0, 0, 0, 1])
, position="@reader.position")
#needleBaseMaster.addObject("LinearMovementProjectiveConstraint",indices=[0], keyTimes=[0,1,7,9],movements=
# [ [0.04, 0.04,0,0,0,0]
# , [0.04, 0.04,0.05,0,3.14/2,0]
# , [0.04, 0.04,-0.07,0,3.14/2,0]
# , [0.05, 0.04,-0.07,0,3.14/2 + 3.14/16,0]
#],relativeMovements=False)
#needleBaseMaster.addObject("WriteState", name="writer", filename="RecordState/NeedleInsertion.txt"
# , period=0.01, writeX=True, writeV=True, time=0)
needleBaseMaster.addObject("ReadState", name="reader", filename="RecordState/NeedleInsertion.txt")



Expand Down
52 changes: 29 additions & 23 deletions scenes/NeedleInsertionCycles.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@ def createScene(root):
'Sofa.GL.Component.Rendering3D',
'Sofa.GUI.Component',
'Sofa.Component.Engine.Select',
'Sofa.Component.Playback',
'MultiThreading',
'CollisionAlgorithm',
'ConstraintGeometry'
Expand All @@ -63,29 +64,34 @@ def createScene(root):
root.addObject("CollisionLoop")

needleBaseMaster = root.addChild("NeedleBaseMaster")
needleBaseMaster.addObject("MechanicalObject", name="mstate_baseMaster", position=[0.04, 0.04, 0, 0, 0, 0, 1], template="Rigid3d", showObjectScale=0.002, showObject=True, drawMode=1)
needleBaseMaster.addObject("LinearMovementProjectiveConstraint",indices=[0],
keyTimes=[
0, 1, 4, 4.5, 5, 8
,8.5,9,12,12.5,13,16
],
movements=[
[0.04, 0.04,0,0,0,0],
[0.04, 0.04,0.05,0,3.14/2,0],
[0.04, 0.04,-0.07,0,3.14/2,0],
[0.05, 0.04,-0.07,0,3.14/2 + 3.14/16,0],
[0.04, 0.04,-0.07,0,3.14/2,0],
[0.04, 0.04,0.005,0,3.14/2,0],
# Change to insertion at an angle
[0.06, 0.04,0.005,0,3.14/2,0],
[0.06, 0.04,0.005,0,3.14/2 + 3.14/8,0],
[0.030866, 0.04,-0.04119,0,3.14/2 + 3.14/8,0],
[0.030866, 0.04,-0.04119,0,3.14/2,0],
[0.030866, 0.04,-0.04119,0,3.14/2 + 3.14/8,0],
[0.06, 0.04,0.005,0,3.14/2 + 3.14/8,0]
]
,relativeMovements=False
)
needleBaseMaster.addObject("MechanicalObject", name="mstate_baseMaster", template="Rigid3d", showObjectScale=0.002, showObject=True, drawMode=1
#, position=[0.04, 0.04, 0, 0, 0, 0, 1])
, position="@reader.position")
#needleBaseMaster.addObject("LinearMovementProjectiveConstraint",indices=[0],
# keyTimes=[
# 0, 1, 4, 4.5, 5, 8
# ,8.5,9,12,12.5,13,16
# ],
# movements=[
# [0.04, 0.04,0,0,0,0],
# [0.04, 0.04,0.05,0,3.14/2,0],
# [0.04, 0.04,-0.07,0,3.14/2,0],
# [0.05, 0.04,-0.07,0,3.14/2 + 3.14/16,0],
# [0.04, 0.04,-0.07,0,3.14/2,0],
# [0.04, 0.04,0.005,0,3.14/2,0],
# # Change to insertion at an angle
# [0.06, 0.04,0.005,0,3.14/2,0],
# [0.06, 0.04,0.005,0,3.14/2 + 3.14/8,0],
# [0.030866, 0.04,-0.04119,0,3.14/2 + 3.14/8,0],
# [0.030866, 0.04,-0.04119,0,3.14/2,0],
# [0.030866, 0.04,-0.04119,0,3.14/2 + 3.14/8,0],
# [0.06, 0.04,0.005,0,3.14/2 + 3.14/8,0]
# ]
# ,relativeMovements=False
#)
#needleBaseMaster.addObject("WriteState", name="writer", filename="RecordState/NeedleInsertionCycles.txt"
# , period=0.01, writeX=True, writeV=True, time=0)
needleBaseMaster.addObject("ReadState", name="reader", filename="RecordState/NeedleInsertionCycles.txt")


needle = root.addChild("Needle")
Expand Down
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