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Apply SOFA PR 4750 changes #312

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3b51664
Apply data name changes
bakpaul Dec 10, 2024
86e2b8d
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bakpaul Dec 10, 2024
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2 changes: 1 addition & 1 deletion examples/component/constraint/CableConstraint/CableSmoothActuation.py
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Expand Up @@ -53,7 +53,7 @@ def createScene(rootNode):
bunny.addObject('FastTetrahedralCorotationalForceField', template='Vec3', name='FEM', method='large', poissonRatio='0.3', youngModulus='10000')

bunny.addObject('BoxROI', name='boxROI', box=[-5, -5.0, -5, 5, -4.5, 5], drawBoxes=True)
bunny.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness='1e12')
bunny.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness='1e12')

bunny.addObject('GenericConstraintCorrection')

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4 changes: 2 additions & 2 deletions examples/component/constraint/CableConstraint/Finger.py
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Expand Up @@ -73,10 +73,10 @@ def createScene(rootNode):

# RestShapeSpringsForceField is one way in Sofa to implement fixed point constraint.
# Here the constraints are applied to the DoFs selected by the previously defined BoxROI
finger.addObject('RestShapeSpringsForceField', points=finger.roi.indices.getLinkPath(), stiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices=finger.roi.indices.getLinkPath(), stiffness=1e12)

# It is also possible to simply set by hand the indices of the points you want to fix.
# finger.addObject('RestShapeSpringsForceField', points=[0, 1, 2, 11, 55], stiffness=1e12)
# finger.addObject('RestShapeSpringsForceField', indices=[0, 1, 2, 11, 55], stiffness=1e12)

finger.addObject('GenericConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/component/constraint/CableConstraint/FingerWithSTLIB.py
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Expand Up @@ -56,7 +56,7 @@ def createScene(rootNode):

# RestShapeSpringsForceField is one way in Sofa to implement fixed point constraint.
# Here the constraints are applied to the DoFs selected by the previously defined BoxROI
finger.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness=1e12)

##########################################
# Cable #
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2 changes: 1 addition & 1 deletion examples/component/constraint/JointConstraint/JointConstraint.py
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Expand Up @@ -38,7 +38,7 @@ def createScene(rootNode):

object = simulation.addChild('Object')
object.addObject('MechanicalObject', template='Vec1', position=0.)
object.addObject("RestShapeSpringsForceField", points=[0], stiffness=1e1)
object.addObject("RestShapeSpringsForceField", indices=[0], stiffness=1e1)
# Try to change the data field "value" from the GUI
object.addObject('JointConstraint', template='Vec1', index=0, value=0, valueType="displacement",
minDisplacement=-pi, maxDisplacement=pi)
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2 changes: 1 addition & 1 deletion examples/component/constraint/SurfacePressureConstraint/Springy.py
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Expand Up @@ -55,7 +55,7 @@ def createScene(rootNode):
youngModulus=500)

accordion.addObject('BoxROI', name='ROI1', box=[-2, -2, 0, 2, 2, 0.5], drawBoxes=True)
accordion.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
accordion.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness=1e12)
# accordion.addObject('FixedProjectiveConstraint', indices='@ROI1.indices')

accordion.addObject('LinearSolverConstraintCorrection')
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2 changes: 1 addition & 1 deletion examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py
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Expand Up @@ -49,7 +49,7 @@ def createScene(rootNode):

bunny.addObject('BoxROI', name='boxROI', box=[-5, -7, -5, 5, -4.5, 5], drawBoxes=True,
position="@tetras.rest_position", tetrahedra="@container.tetrahedra")
bunny.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12)
bunny.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e12)
bunny.addObject('LinearSolverConstraintCorrection')

# bunny/cavity
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2 changes: 1 addition & 1 deletion examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py
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Expand Up @@ -63,7 +63,7 @@ def createScene(rootNode):
tentacle.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.3, youngModulus=200)

tentacle.addObject('BoxROI', name='ROI1', box=[[50, -20, 30],[75, 20, 50]], drawBoxes=True)
tentacle.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
tentacle.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness=1e12)

tentacle.addObject('LinearSolverConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/component/controller/CommunicationController/modules/accordion3.py
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Expand Up @@ -13,7 +13,7 @@ def addAccordion(node, inverse=False):
accordion.addObject('UniformMass', totalMass=0.030)
accordion.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.3, youngModulus=500)
accordion.addObject('BoxROI', name='ROI1', box=[-2, -2, 0, 2, 2, 0.5], drawBoxes=True)
accordion.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
accordion.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness=1e12)
accordion.addObject('LinearSolverConstraintCorrection')

# Pressure
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2 changes: 1 addition & 1 deletion examples/component/controller/DataVariationLimiter/DataVariationLimiter.py
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Expand Up @@ -94,7 +94,7 @@ def createScene(rootNode):
youngModulus=500)

accordion.addObject('BoxROI', name='ROI1', box=[-2, -2, 0, 2, 2, 0.5], drawBoxes=True)
accordion.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
accordion.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness=1e12)

accordion.addObject('LinearSolverConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/thematicalDocs/T1-Elements_TetraHexaBeam/Beam/Beam.py
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Expand Up @@ -36,7 +36,7 @@ def createScene(rootNode):
beam.addObject('BeamInterpolation', name='interpol', crossSectionShape='rectangular', lengthY=5, lengthZ=5,
defaultYoungModulus=1.8e6)
beam.addObject('AdaptiveBeamForceFieldAndMass', name="BeamForceField", computeMass=1, massDensity=0.001)
beam.addObject('RestShapeSpringsForceField', points=0, stiffness=100e10, angularStiffness=100e10)
beam.addObject('RestShapeSpringsForceField', indices=0, stiffness=100e10, angularStiffness=100e10)

# Visualization
visuNode = beam.addChild('visualization')
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4 changes: 2 additions & 2 deletions examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableDisplacement.py
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Expand Up @@ -53,10 +53,10 @@ def createScene(rootNode):

# RestShapeSpringsForceField is one way in Sofa to implement fixed point constraint.
# Here the constraints are applied to the DoFs selected by the previously defined BoxROI
finger.addObject('RestShapeSpringsForceField', points='@ROI.indices', stiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices='@ROI.indices', stiffness=1e12)

# It is also possible to simply set by hand the indices of the points you want to fix.
# finger.addObject('RestShapeSpringsForceField', points=[0, 1, 2, 11, 55], stiffness=1e12)
# finger.addObject('RestShapeSpringsForceField', indices=[0, 1, 2, 11, 55], stiffness=1e12)

finger.addObject('LinearSolverConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableForce.py
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Expand Up @@ -50,7 +50,7 @@ def createScene(rootNode):

# RestShapeSpringsForceField is one way in Sofa to implement fixed point constraint.
# Here the constraints are applied to the DoFs selected by the previously defined BoxROI
finger.addObject('RestShapeSpringsForceField', points='@ROI.indices', stiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices='@ROI.indices', stiffness=1e12)

finger.addObject('LinearSolverConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintPressure.py
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Expand Up @@ -31,7 +31,7 @@ def createScene(rootNode):

bunny.addObject('BoxROI', name='boxROI', box=[-5, -15, -5, 5, -4.5, 5], drawBoxes=True,
position="@tetras.rest_position", tetrahedra="@container.tetrahedra")
bunny.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12)
bunny.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e12)
bunny.addObject('LinearSolverConstraintCorrection')

# bunny/cavity
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2 changes: 1 addition & 1 deletion examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintVolume.py
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Expand Up @@ -29,7 +29,7 @@ def createScene(rootNode):

bunny.addObject('BoxROI', name='boxROI', box=[-5, -15, -5, 5, -4.5, 5], drawBoxes=True,
position="@tetras.rest_position", tetrahedra="@container.tetrahedra")
bunny.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12)
bunny.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e12)
bunny.addObject('LinearSolverConstraintCorrection')

# bunny/cavity
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6 changes: 3 additions & 3 deletions examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py
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Expand Up @@ -63,11 +63,11 @@ def createScene(rootNode):
showIndices=False, showIndicesScale=4e-5,
position='@../robot/boxROI3.pointsInROI')

robot.addObject('RestShapeSpringsForceField', name='fixed1', points="@boxROI1.indices",
robot.addObject('RestShapeSpringsForceField', name='fixed1', indices="@boxROI1.indices",
external_rest_shape="@RestPositionLeg0/meca0", stiffness=1e3)
robot.addObject('RestShapeSpringsForceField', name='fixed2', points="@boxROI2.indices",
robot.addObject('RestShapeSpringsForceField', name='fixed2', indices="@boxROI2.indices",
external_rest_shape="@RestPositionLeg1/meca1", stiffness=1e3)
robot.addObject('RestShapeSpringsForceField', name='fixed3', points="@boxROI3.indices",
robot.addObject('RestShapeSpringsForceField', name='fixed3', indices="@boxROI3.indices",
external_rest_shape="@RestPositionLeg2/meca2", stiffness=1e3)

###############################
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2 changes: 1 addition & 1 deletion examples/tutorials/PneunetGripper/details/step4-boundaryConditions.py
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Expand Up @@ -26,7 +26,7 @@ def createScene(rootNode):
finger.addObject('UniformMass', totalMass=0.04)
boxROISubTopo = finger.addObject('BoxROI', name='boxROISubTopo', box=[-100, 22.5, -8, -19, 28, 8], strict=False)
boxROI = finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20], drawBoxes=True)
finger.addObject('RestShapeSpringsForceField', points=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)

modelSubTopo = finger.addChild('SubTopology')
modelSubTopo.addObject('MeshTopology', position='@loader.position', name='container',
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2 changes: 1 addition & 1 deletion examples/tutorials/PneunetGripper/details/step5-timeIntegrationAndMatrixSolver.py
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Expand Up @@ -32,7 +32,7 @@ def createScene(rootNode):
finger.addObject('UniformMass', totalMass=0.04)
boxROISubTopo = finger.addObject('BoxROI', name='boxROISubTopo', box=[-100, 22.5, -8, -19, 28, 8], strict=False)
boxROI = finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20], drawBoxes=True)
finger.addObject('RestShapeSpringsForceField', points=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)

modelSubTopo = finger.addChild('SubTopology')
modelSubTopo.addObject('MeshTopology', position='@loader.position', tetrahedra=boxROISubTopo.tetrahedraInROI.linkpath,
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2 changes: 1 addition & 1 deletion ...ples/tutorials/PneunetGripper/details/step6-pneumaticActuatorAndPythonScriptController.py
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Expand Up @@ -38,7 +38,7 @@ def createScene(rootNode):
finger.addObject('UniformMass', totalMass=0.04)
boxROISubTopo = finger.addObject('BoxROI', name='boxROISubTopo', box=[-100, 22.5, -8, -19, 28, 8], strict=False)
boxROI = finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20], drawBoxes=True)
finger.addObject('RestShapeSpringsForceField', points=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)
finger.addObject('GenericConstraintCorrection')

modelSubTopo = finger.addChild('SubTopology')
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2 changes: 1 addition & 1 deletion examples/tutorials/PneunetGripper/details/step7-grabTheCube.py
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Expand Up @@ -115,7 +115,7 @@ def createScene(rootNode):
boxROI = finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20], doUpdate=False)
boxROISubTopo = finger.addObject('BoxROI', name='boxROISubTopo', box=[-100, 22.5, -8, -19, 28, 8], strict=False)
finger.addObject('RestShapeSpringsForceField',
points=boxROI.indices.linkpath,
indices=boxROI.indices.linkpath,
stiffness=1e12, angularStiffness=1e12)
finger.addObject('GenericConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/tutorials/PneunetGripper/details/step7-withSTLIB.py
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Expand Up @@ -75,7 +75,7 @@ def createScene(rootNode):
finger.integration.rayleighMass = 0.1

finger.addObject('BoxROI', name='boxROI', box=fingersParameters[i]['ROIBox'], drawBoxes=True, doUpdate=False)
finger.addObject('RestShapeSpringsForceField', points='@../Finger1/boxROI.indices', stiffness=1e12,
finger.addObject('RestShapeSpringsForceField', indices='@../Finger1/boxROI.indices', stiffness=1e12,
angularStiffness=1e12)

PneumaticCavity(surfaceMeshFileName=fingersCavitySurfaceMesh,
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6 changes: 3 additions & 3 deletions examples/tutorials/PneunetGripper/pneunetgripper-tuto.md
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Expand Up @@ -62,7 +62,7 @@ To easily define the indices of the points which will be fixed, we use the boxRO

```python
finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20])
finger.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
```

[Step4](details/step4-boundaryConditions.py)
Expand Down Expand Up @@ -286,9 +286,9 @@ def createScene(rootNode):
finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20])
finger.addObject('BoxROI', name='boxROISubTopo', box=[-100, 22.5, -8, -19, 28, 8], strict=False)
if i == 0:
finger.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
else:
finger.addObject('RestShapeSpringsForceField', points='@../finger1/boxROI.indices', stiffness=1e12, angularStiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices='@../finger1/boxROI.indices', stiffness=1e12, angularStiffness=1e12)

finger.addObject('LinearSolverConstraintCorrection', solverName='preconditioner')

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4 changes: 2 additions & 2 deletions examples/tutorials/SoftArmGripper/scene.py
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Expand Up @@ -39,7 +39,7 @@ def addArm(node):
arm.addObject('MechanicalObject', template='Rigid3', name='dofs', showObject=True, showObjectScale=10)
arm.addObject('UniformMass', indices=[4 * i + 1 for i in range(size)], totalMass=0.003 * size,
showAxisSizeFactor=0.03) # set mass of each piece that connect the ribs
arm.addObject('RestShapeSpringsForceField', stiffness=1e12, angularStiffness=1e12, points=0) # fix base of the arm
arm.addObject('RestShapeSpringsForceField', stiffness=1e12, angularStiffness=1e12, indices=0) # fix base of the arm

# sub topology to allow different ribs thickness for each section
for i in range(params.Arm.nbSection):
Expand Down Expand Up @@ -84,7 +84,7 @@ def addFinger(node, fingerId, translation, rotation):
finger.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.3,
youngModulus=1.8e6)
finger.addObject('BoxROI', name='boxROI', box=[-100, -20, -50, 100, 20, 50], drawBoxes=True)
finger.addObject('RestShapeSpringsForceField', points=finger.boxROI.indices.getLinkPath(), stiffness=1e12)
finger.addObject('RestShapeSpringsForceField', indices=finger.boxROI.indices.getLinkPath(), stiffness=1e12)

visu[fingerId] = finger.addChild('Visualization')
visu[fingerId].addObject('MeshSTLLoader', name="loader", filename=params.Simulation.path + "/mesh/finger.stl",
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2 changes: 1 addition & 1 deletion examples/tutorials/SoftFingerDesign/details/fixing_box.py
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Expand Up @@ -21,5 +21,5 @@ def __init__(self, parent, target, name='FixingBox',
target.addChild(c)

c.addObject('RestShapeSpringsForceField',
points=self.node.BoxROI.getData('indices').getLinkPath(),
indices=self.node.BoxROI.getData('indices').getLinkPath(),
stiffness=1e12)
2 changes: 1 addition & 1 deletion examples/tutorials/SoftFingerDesign/details/s90_servo.py
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Expand Up @@ -74,7 +74,7 @@ def init(self):
angle = self.addChild('Articulation')
angle.addObject('MechanicalObject', name='dofs', template='Vec1', position=[[self.getData('angleIn')]],
rest_position=self.getData('angleIn').getLinkPath())
angle.addObject('RestShapeSpringsForceField', points=0, stiffness=1e9)
angle.addObject('RestShapeSpringsForceField', indices=0, stiffness=1e9)
angle.addObject('UniformMass', totalMass=0.01)

servoWheel = angle.addChild('ServoWheel')
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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/details/fixingbox.py
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Expand Up @@ -18,6 +18,6 @@ def FixingBox(parent, target, name='FixingBox',
target.addChild(c)

c.addObject('RestShapeSpringsForceField',
points=self.BoxROI.getData('indices').getLinkPath(),
indices=self.BoxROI.getData('indices').getLinkPath(),
stiffness=1e12)
return self
2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/details/maze.py
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Expand Up @@ -78,7 +78,7 @@ def createScene(rootNode):
effector.addObject('CGLinearSolver', iterations=100, threshold=1e-5, tolerance=1e-5)
effector.addObject('MechanicalObject', template='Rigid3', name='goalMO', position=[0, 40, 0, 0, 0, 0, 1],
showObject=True, showObjectScale=10)
effector.addObject('RestShapeSpringsForceField', points=0, angularStiffness=1e5, stiffness=1e5)
effector.addObject('RestShapeSpringsForceField', indices=0, angularStiffness=1e5, stiffness=1e5)
effector.addObject('UncoupledConstraintCorrection', compliance='1e-10 1e-10 0 0 1e-10 0 1e-10 ')

# Open maze planning from JSON file
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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/details/s90servo.py
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Expand Up @@ -75,7 +75,7 @@ def __init__(self, *args, **kwargs):
angle = self.addChild('Articulation')
angle.addObject('MechanicalObject', name='dofs', template='Vec1', position=[[0]],
rest_position=self.angleIn.getLinkPath())
angle.addObject('RestShapeSpringsForceField', points=0, stiffness=1e9)
angle.addObject('RestShapeSpringsForceField', indices=0, stiffness=1e9)
angle.addObject('UniformMass', totalMass=0.01)

servoWheel = angle.addChild('ServoWheel')
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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/details/step8-maze.py
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Expand Up @@ -16,7 +16,7 @@ def EffectorGoal(node, position):
goal.addObject('EulerImplicitSolver', firstOrder=True)
goal.addObject('CGLinearSolver', iterations=100, threshold=1e-12, tolerance=1e-10)
goal.addObject('MechanicalObject', name='goalMO', template='Rigid3', position=position+[0., 0., 0., 1.], showObject=True, showObjectScale=10)
goal.addObject('RestShapeSpringsForceField', points=0, angularStiffness=1e5, stiffness=1e5)
goal.addObject('RestShapeSpringsForceField', indices=0, angularStiffness=1e5, stiffness=1e5)
goal.addObject('UncoupledConstraintCorrection', compliance=[1e-10] * 7)
return goal

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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/myproject/fixingbox.py
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Expand Up @@ -18,6 +18,6 @@ def FixingBox(parent, target, name='FixingBox',
target.addChild(c)

c.addObject('RestShapeSpringsForceField',
points=self.BoxROI.getData('indices').getLinkPath(),
indices=self.BoxROI.getData('indices').getLinkPath(),
stiffness=1e12)
return self
2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/myproject/maze.py
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Expand Up @@ -78,7 +78,7 @@ def createScene(rootNode):
effector.addObject('CGLinearSolver', iterations=100, threshold=1e-5, tolerance=1e-5)
effector.addObject('MechanicalObject', template='Rigid3', name='goalMO', position=[0, 40, 0, 0, 0, 0, 1],
showObject=True, showObjectScale=10)
effector.addObject('RestShapeSpringsForceField', points=0, angularStiffness=1e5, stiffness=1e5)
effector.addObject('RestShapeSpringsForceField', indices=0, angularStiffness=1e5, stiffness=1e5)
effector.addObject('UncoupledConstraintCorrection', compliance='1e-10 1e-10 0 0 1e-10 0 1e-10 ')

# Open maze planning from JSON file
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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/myproject/parts/fixingbox.py
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Expand Up @@ -20,6 +20,6 @@ def FixingBox(parent, target, name='FixingBox',
target.addChild(c)

c.addObject('RestShapeSpringsForceField',
points=self.BoxROI.getData('indices').getLinkPath(),
indices=self.BoxROI.getData('indices').getLinkPath(),
stiffness=1e12)
return self
2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/myproject/parts/maze.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ def createScene(rootNode):
effector.addObject('CGLinearSolver', iterations=100, threshold=1e-5, tolerance=1e-5)
effector.addObject('MechanicalObject', template='Rigid3', name='goalMO', position=[0, 40, 0, 0, 0, 0, 1],
showObject=True, showObjectScale=10)
effector.addObject('RestShapeSpringsForceField', points=0, angularStiffness=1e5, stiffness=1e5)
effector.addObject('RestShapeSpringsForceField', indices=0, angularStiffness=1e5, stiffness=1e5)
effector.addObject('UncoupledConstraintCorrection', compliance='1e-10 1e-10 0 0 1e-10 0 1e-10 ')

# Open maze planning from JSON file
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2 changes: 1 addition & 1 deletion examples/tutorials/Tripod/myproject/parts/s90servo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ def init(self):
angle = self.addChild('Articulation')
angle.addObject('MechanicalObject', name='dofs', template='Vec1', position=[[0]],
rest_position=self.getData('angleIn').getLinkPath())
angle.addObject('RestShapeSpringsForceField', points=0, stiffness=1e9)
angle.addObject('RestShapeSpringsForceField', indices=0, stiffness=1e9)
angle.addObject('UniformMass', totalMass=0.01)

servoWheel = angle.addChild('ServoWheel')
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