[tutorials] Tripod: cleaning (mostly warnings)

SofaDefrost · Oct 23, 2023 · d572479 · d572479
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diff --git a/examples/tutorials/Tripod/README.md b/examples/tutorials/Tripod/README.md
@@ -8,3 +8,17 @@
      width="49%"/>
 
 Open the file `tripod-tuto.py` with your runSofa application and follow the steps. 
+
+# Requirements
+
+Install the module [serial](https://pyserial.readthedocs.io/en/latest/pyserial.html) for python:
+
+```commandline
+python -m pip install pyserial
+```
+
+or from Conda
+
+```commandline
+conda install pyserial
+```
diff --git a/examples/tutorials/Tripod/details/actuatedarm.py b/examples/tutorials/Tripod/details/actuatedarm.py
@@ -106,7 +106,9 @@ def createScene(rootNode):
                                      "Sofa.Component.Constraint.Projective", "Sofa.Component.IO.Mesh",
                                      "Sofa.Component.LinearSolver.Direct", "Sofa.Component.Mass", "Sofa.Component.SolidMechanics.Spring",
                                      "Sofa.Component.Topology.Container.Constant", "Sofa.Component.Visual",
-                                     "Sofa.GL.Component.Rendering3D", "Sofa.GUI.Component", ], iterative=False)
+                                     "Sofa.GL.Component.Rendering3D", "Sofa.GUI.Component",
+                                     "Sofa.Component.Mapping.NonLinear",
+                                     "Sofa.Component.StateContainer"], iterative=False)
     scene.addMainHeader()
     scene.addObject('DefaultVisualManagerLoop')
     scene.addObject('FreeMotionAnimationLoop')

diff --git a/examples/tutorials/Tripod/details/blueprint.py b/examples/tutorials/Tripod/details/blueprint.py
@@ -1,8 +1,8 @@
 # -*- coding: utf-8 -*-
-'''
+"""
 Step 3:
 Make re-usable element out of a blueprint
-'''
+"""
 import Sofa
 
 

diff --git a/examples/tutorials/Tripod/details/closedLoopController.py b/examples/tutorials/Tripod/details/closedLoopController.py
@@ -17,7 +17,7 @@ class EffectorController(Sofa.Core.Controller):
 
     def __init__(self, *args, serialport=None, servomotors=None, **kwargs):
         Sofa.Core.Controller.__init__(self, *args, **kwargs)
-        self.name = "InverseController"
+        self.name = "EffectorController"
         self.referenceNode = args[1]
 
     def onKeypressedEvent(self, event):
@@ -56,7 +56,7 @@ class CloseLoopController(Sofa.Core.Controller):
 
     def __init__(self, *args, serialport=None, servomotors=None, **kwargs):
         Sofa.Core.Controller.__init__(self, *args, **kwargs)
-        self.name = "InverseController"
+        self.name = "CloseLoopController"
         self.nodeGoal = args[1]
         self.referenceNode = args[2]
         self.arduino = args[3]