Beam Adapter + Cable Actuator

[ZA123654]

Bonjour,

I am trying to model a catheter robot using Beam Adapter and cable actuator in soft robot plugin. At the first step, the whole catheter show up. But if I delete the cable actuator, I can simulate the insertion movement. Thank you very much if someone can tell me how to make the cable actuator work. This is my code:

import Sofa
totalLength = 20
nbCablePoint = 20

def createCablePoints(totalLength, nbCablePoint):
    step = totalLength / nbCablePoint
    pos_out = [0] * 3 * (nbCablePoint + 1)
    x_c = 0

    for i in range(nbCablePoint):
        x_c = x_c + step
        pos_out[3 * i + 3] = x_c
    return pos_out

def TableToString(Table):
    sizeT = len(Table)
    strOut = ' '

    for p in range(sizeT):
        strOut = strOut + str(Table[p]) + ' '

    return strOut


def createScene(rootNode):
    rootNode.addObject('RequiredPlugin', name='BeamAdapter', pluginName='BeamAdapter ')
    rootNode.addObject('RequiredPlugin', name='SofaPython3', pluginName='SofaPython3')
    rootNode.addObject('RequiredPlugin', name='SoftRobots', pluginName='SoftRobots');
    rootNode.addObject('BackgroundSetting', color='0 0.168627 0.211765')
    rootNode.addObject('VisualStyle',
                       displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showInteractionForceFields hideWireframe')
    rootNode.addObject('RequiredPlugin', pluginName=["Sofa.Component.AnimationLoop",
                                                     # Needed to use components FreeMotionAnimationLoop
                                                     "Sofa.Component.Collision.Detection.Algorithm",
                                                     # Needed to use components BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline
                                                     "Sofa.Component.Collision.Detection.Intersection",
                                                     # Needed to use components LocalMinDistance
                                                     "Sofa.Component.Collision.Geometry",
                                                     # Needed to use components LineCollisionModel, PointCollisionModel, TriangleCollisionModel
                                                     "Sofa.Component.Collision.Response.Contact",
                                                     # Needed to use components DefaultContactManager
                                                     "Sofa.Component.Constraint.Lagrangian.Correction",
                                                     # Needed to use components GenericConstraintCorrection, UncoupledConstraintCorrection
                                                     "Sofa.Component.Constraint.Lagrangian.Solver",
                                                     # Needed to use components GenericConstraintSolver
                                                     "Sofa.Component.IO.Mesh",
                                                     # Needed to use components MeshOBJLoader, MeshSTLLoader, MeshVTKLoader
                                                     "Sofa.Component.LinearSolver.Direct",
                                                     # Needed to use components SparseLDLSolver
                                                     "Sofa.Component.LinearSolver.Iterative",
                                                     # Needed to use components CGLinearSolver
                                                     "Sofa.Component.Mass",  # Needed to use components UniformMass
                                                     "Sofa.Component.ODESolver.Backward",
                                                     # Needed to use components EulerImplicitSolver
                                                     "Sofa.Component.SolidMechanics.FEM.Elastic",
                                                     # Needed to use components TetrahedronFEMForceField
                                                     "Sofa.Component.Topology.Container.Constant",
                                                     # Needed to use components MeshTopology
                                                     "Sofa.Component.Topology.Container.Dynamic",
                                                     # Needed to use components TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier
                                                     "Sofa.Component.Visual",  # Needed to use VisualStyle
                                                     "Sofa.GL.Component.Rendering3D",  # Needed to use OglModel
                                                     "Sofa.GUI.Component",  # Needed to use AttachBodyButtonSetting
                                                     "Sofa.Component.Constraint.Projective",
                                                     # Needed to use components [FixedConstraint]
                                                     "Sofa.Component.Mapping.Linear",
                                                     # Needed to use components [IdentityMapping]
                                                     "Sofa.Component.Setting",
                                                     # Needed to use components [BackgroundSetting]
                                                     "Sofa.Component.SolidMechanics.Spring",
                                                     # Needed to use components [RestShapeSpringsForceField]
                                                     "Sofa.Component.StateContainer",
                                                     # Needed to use components [MechanicalObject]
                                                     "Sofa.Component.Topology.Container.Grid",
                                                     # Needed to use components [RegularGridTopology]
                                                     "Sofa.Component.Topology.Mapping",
                                                     # Needed to use components [Edge2QuadTopologicalMapping]
                                                     ])
    rootNode.findData('dt').value = 0.01
    rootNode.findData('gravity').value = [0, 0, 0]

    rootNode.addObject('DefaultVisualManagerLoop')
    rootNode.addObject('FreeMotionAnimationLoop')
    rootNode.addObject('GenericConstraintSolver', tolerance="1e-6", maxIterations="5000", unbuilt="false")
    rootNode.addObject('DefaultPipeline', depth="6", verbose="0", draw="1")
    rootNode.addObject('BruteForceBroadPhase', name='N2')
    rootNode.addObject('BVHNarrowPhase')
    rootNode.addObject('DefaultContactManager', response="FrictionContactConstraint", responseParams="mu=0.65")
    rootNode.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.6", contactDistance="0.44",
                       angleCone="0.01")

    #########################################
    # INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter)
    #########################################
    topoLines_cath = rootNode.addChild('topoLines_cath')
    topoLines_cath.addObject('WireRestShape', template="Rigid3d", printLog=False, name="catheterRestShape", length=totalLength,
                             straightLength=totalLength, spireDiameter="0", spireHeight="0.0", densityOfBeams="20",
                             numEdges="200", numEdgesCollis="40", youngModulus="2.5e5", youngModulusExtremity="2.5e5",
                             radius="@../Proximity.contactDistance")
    topoLines_cath.addObject('EdgeSetTopologyContainer', name="meshLinesCath")
    topoLines_cath.addObject('EdgeSetTopologyModifier', name="Modifier")
    topoLines_cath.addObject('EdgeSetGeometryAlgorithms', name="GeomAlgo", template="Rigid3d")
    topoLines_cath.addObject('MechanicalObject', template="Rigid3d", name="dofTopo1")

    RefStartingPos = rootNode.addChild('RefStartingPos')
    RefStartingPos.addObject('MechanicalObject', name="ReferencePos", template="Rigid3d",
                             position="-3 1.5 0.3  1 0 0 0")

    InstrumentCombined = rootNode.addChild('InstrumentCombined')
    InstrumentCombined.addObject('EulerImplicitSolver', rayleighStiffness="0.01", rayleighMass="0.03", printLog=False)
    InstrumentCombined.addObject('BTDLinearSolver')
    InstrumentCombined.addObject('RegularGridTopology', name="meshLinesCombined", nx="100", ny="1", nz="1")

    InstrumentCombined.addObject('MechanicalObject', template="Rigid3d", name="DOFs")
    InstrumentCombined.addObject('InterventionalRadiologyController', template="Rigid3d", name="m_ircontroller",
                                 printLog=False, xtip="0.1", speed='3', step="0.01", rotationInstrument="0",
                                 controlledInstrument="0", startingPos="@../RefStartingPos/ReferencePos.position",
                                 instruments="InterpolCatheter")
    InstrumentCombined.addObject('WireBeamInterpolation', name="InterpolCatheter",
                                 WireRestShape="@../topoLines_cath/catheterRestShape", radius="3.0", printLog=False)
    InstrumentCombined.addObject('AdaptiveBeamForceFieldAndMass', name="CatheterForceField", massDensity="0.000005",
                                 interpolation="@InterpolCatheter", printLog=False)
    InstrumentCombined.addObject('LinearSolverConstraintCorrection', printLog=False, wire_optimization="true")
    InstrumentCombined.addObject("FixedConstraint", indices="0")
    InstrumentCombined.addObject('RestShapeSpringsForceField', name="MeasurementFF",
                                 points="@m_ircontroller.indexFirstNode", stiffness="1e10", recompute_indices="1",
                                 angularStiffness="1e10", external_rest_shape="@../RefStartingPos/ReferencePos",
                                 external_points="0", drawSpring="1", springColor="1 0 0 1")

    #########################################
    # Cables
    #########################################
    pos = createCablePoints(totalLength, nbCablePoint)
    indices = range(0, int(nbCablePoint + 1))
    pos_str = TableToString(pos)
    indices_str = TableToString(indices)

    cable = InstrumentCombined.addChild('Cable')
    cable.addObject('VisualStyle', displayFlags="showInteractionForceFields")
    cable.addObject('MechanicalObject', template='Vec3d', name="cable", position=pos_str, translation='0 0.6 0')
    cable.addObject('CableConstraint', template='Vec3d', name="cableConstraint", indices=indices_str, pullPoint='0.0 0.6 0',
                     hasPullPoint='0')  # point from where the cable is being pulled
    cable.addObject('AdaptiveBeamMapping', name='mapping', mapForces='false', mapMasses='false', useCurvAbs="1",
                     printLog="0", interpolation="@../InterpolCatheter", input="@../DOFs", output="@cable",
                     isMechanical="true")

    visuInstrumentCombined = InstrumentCombined.addChild('visuInstrumentCombined')
    visuInstrumentCombined.addObject('MechanicalObject', name="Quads")
    visuInstrumentCombined.addObject('QuadSetTopologyContainer', name="ContainerCath")
    visuInstrumentCombined.addObject('QuadSetTopologyModifier', name="Modifier")
    visuInstrumentCombined.addObject('QuadSetGeometryAlgorithms', name="GeomAlgo", template="Vec3d")
    visuInstrumentCombined.addObject('Edge2QuadTopologicalMapping', nbPointsOnEachCircle="10",
                                     radius="@../../Proximity.contactDistance",
                                     input="@../../topoLines_cath/meshLinesCath", output="@ContainerCath",
                                     flipNormals="true", printLog=False)
    visuInstrumentCombined.addObject('AdaptiveBeamMapping', name="VisuMapCath", useCurvAbs="1", printLog=False,
                                     isMechanical="false", interpolation="@../InterpolCatheter")
    realVisuInstrumentCombined = visuInstrumentCombined.addChild('realVisuInstrumentCombined')
    realVisuInstrumentCombined.addObject('OglModel', name="VisualCathOGL", src="@../ContainerCath", color='white')
    realVisuInstrumentCombined.addObject('IdentityMapping', input="@../Quads", output="@VisualCathOGL")
    return rootNode

[epernod]

Hi,

this is more an issue related to SoftRobots plugin than BeamAdapter. I suggest to post your question here https://github.com/SofaDefrost/SoftRobots/discussions

Best regards,

[hugtalbot]

@ZA123654 What would you like to do by using the BeamAdapter as a cable actuation within your robot?
Could you illustrate what you want to achieve exactly?

[github-actions[bot]]

⚠️ ⚠️ ⚠️
@ZA123654
Feedback has been given to you by the project reviewers, however we have not received a response from you. Without further news in the coming weeks, this discussion will be automatically closed in order to keep this forum clean and fresh 🌱 Thank you for your understanding

[github-actions[bot]]

⚠️ ⚠️ ⚠️
@ZA123654
In accordance with our forum management policy, the last reply is more than 4 months old and is therefore closed. Our objective is to keep the forum up to date and offer the best support experience.

Please feel free to reopen it if the topic is still active by providing us with an update. Please feel free to open a new thread at any time - we'll be happy to help where and when we can.

[TurboS2002]

@ZA123654 Hello! Had you sloved this problem?

[hugtalbot]

Since this topic has been closed, @ZA123654 do not hesitate to open a new (but more detailed) topic
Cheers