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[scene] Fix force feedback for haptics and insertion - addition of 2 scenes #58

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Merged
epernod merged 2 commits into from
Aug 10, 2025
Merged

[scene] Fix force feedback for haptics and insertion - addition of 2 scenes #58

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6c7d636
[scene] Fixed the lack of force feedback when using the needle with h…
th-skam Aug 7, 2025
7baf3cc
[scene] Added a simpler scene with haptics - insertion in a box
th-skam Aug 7, 2025
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211 changes: 211 additions & 0 deletions scenes/InsertionHaptics_Box.py
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Original file line number Diff line number Diff line change
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import Sofa

g_needleLength=0.100 #(m)
g_needleNumberOfElems=20 #(# of edges)
g_needleBaseOffset=[0.15,0.04,0.04]
g_needleRadius = 0.001 #(m)
g_needleMechanicalParameters = {
"radius":g_needleRadius,
"youngModulus":5e11,
"poissonRatio":0.45
}
g_needleTotalMass=0.01

g_gelRegularGridParameters = {
"n":[8, 8, 8],
"min":[-0.125, -0.125, -0.350],
"max":[0.125, 0.125, -0.100]
} #Again all in mm
g_gelMechanicalParameters = {
"youngModulus":9e5,
"poissonRatio":0.3,
"method":"large"
}
g_gelTotalMass = 1
g_cubeColor=[0.8, 0.34, 0.34, 0.3]
g_gelFixedBoxROI=[-0.130, -0.130, -0.360, 0.130, 0.130, -0.300 ]

# Function called when the scene graph is being created
def createScene(root):
root.gravity=[0,0,-9.81]
root.dt = 0.01

root.addObject("RequiredPlugin",pluginName=['Sofa.Component.AnimationLoop',
'Sofa.Component.Constraint.Lagrangian.Solver',
'Sofa.Component.ODESolver.Backward',
'Sofa.Component.Visual',
'Sofa.Component.Constraint.Lagrangian.Correction',
'Sofa.Component.Constraint.Lagrangian.Model',
'Sofa.Component.LinearSolver.Direct',
'Sofa.Component.Mapping.Linear',
'Sofa.Component.Mass',
'Sofa.Component.SolidMechanics.FEM.Elastic',
'Sofa.Component.StateContainer',
'Sofa.Component.Topology.Container.Dynamic',
'Sofa.Component.Topology.Mapping',
'Sofa.Component.Mapping.NonLinear',
'Sofa.Component.Topology.Container.Grid',
'Sofa.Component.Constraint.Projective',
'Sofa.Component.SolidMechanics.Spring',
'Sofa.GL.Component.Rendering3D',
'Sofa.GUI.Component',
'Sofa.Component.Engine.Select',
'MultiThreading',
'CollisionAlgorithm',
'ConstraintGeometry',
'Geomagic',
'Sofa.Component.Haptics',
])


root.addObject("ConstraintAttachButtonSetting")
root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" )
root.addObject("FreeMotionAnimationLoop")
root.addObject("GenericConstraintSolver", tolerance=0.00001, maxIt=5000)
root.addObject("CollisionLoop")

toolController = root.addChild("ToolController")
toolController.addObject("GeomagicDriver"
, name='GeomagicDevice'
, deviceName='Default Device'
, scale=0.02
, drawDeviceFrame=False
, drawDevice=False
, manualStart=False
, positionBase=[0.12, 0, 0]
, orientationBase=[0, 0.174, 0, -0.985]
)
toolController.addObject("MechanicalObject", name="mstate_baseMaster"
, position="@GeomagicDevice.positionDevice"
, template="Rigid3d"
, showObjectScale=0.01
, showObject=False
, drawMode=1
)

needle = root.addChild("Needle")
needle.addObject("EulerImplicitSolver", firstOrder=True)
needle.addObject("EigenSparseLU", name="LinearSolver", template="CompressedRowSparseMatrixd")
needle.addObject("EdgeSetTopologyContainer", name="Container"
, position=[[g_needleBaseOffset[0], g_needleBaseOffset[1], -(i * g_needleLength/(g_needleNumberOfElems) + g_needleBaseOffset[2])] for i in range(g_needleNumberOfElems + 1)]
, edges=[[i, i+1] for i in range(g_needleNumberOfElems)]
)
needle.addObject("EdgeSetTopologyModifier", name="modifier")
needle.addObject("PointSetTopologyModifier", name="modifier2")
needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", showObjectScale=0.0002, showObject=False, drawMode=1)
needle.addObject("UniformMass", totalMass=g_needleTotalMass)
needle.addObject("BeamFEMForceField", name="FEM", **g_needleMechanicalParameters)
needle.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver")
needle.addObject("RestShapeSpringsForceField",points=[0], stiffness=1e8, angularStiffness=1e8, external_points=[0], external_rest_shape="@/ToolController/mstate_baseMaster")

needleBase = needle.addChild("needleBase")
needleBase.addObject("PointSetTopologyContainer", name="Container_base", position=[0, 0, 0])
needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d",)
needleBase.addObject("SubsetMapping", indices="0")

needleBodyCollision = needle.addChild("bodyCollision")
needleBodyCollision.addObject("EdgeSetTopologyContainer", name="Container_body", src="@../Container")
needleBodyCollision.addObject("MechanicalObject",name="mstate_body", template="Vec3d",)
needleBodyCollision.addObject("EdgeGeometry",name="geom_body",mstate="@mstate_body", topology="@Container_body")
needleBodyCollision.addObject("EdgeNormalHandler", name="NeedleBeams", geometry="@geom_body")
needleBodyCollision.addObject("IdentityMapping")

needleTipCollision = needle.addChild("tipCollision")
needleTipCollision.addObject("PointSetTopologyContainer", name="Container_tip"
, position=[g_needleBaseOffset[0], g_needleBaseOffset[1], -(g_needleLength+g_needleBaseOffset[2])])
needleTipCollision.addObject("MechanicalObject",name="mstate_tip",template="Vec3d", showObject=False, showObjectScale=20)
needleTipCollision.addObject("PointGeometry",name="geom_tip",mstate="@mstate_tip")
needleTipCollision.addObject("RigidMapping",globalToLocalCoords=True,index=g_needleNumberOfElems)

needleVisual = needle.addChild("visual")
needleVisual.addObject("QuadSetTopologyContainer", name="Container_visu")
needleVisual.addObject("QuadSetTopologyModifier", name="Modifier")
needleVisual.addObject("Edge2QuadTopologicalMapping", nbPointsOnEachCircle=8, radius=g_needleRadius, input="@../Container", output="@Container_visu")
needleVisual.addObject("MechanicalObject", name="mstate_visu", showObjectScale=0.0002, showObject=True, drawMode=1)
needleVisual.addObject("TubularMapping", nbPointsOnEachCircle=8, radius=g_needleRadius, input="@../mstate", output="@mstate_visu")

needleOGL = needleVisual.addChild("OGL")
needleOGL.addObject("OglModel", position="@../Container_visu.position",
vertices="@../Container_visu.position",
quads="@../Container_visu.quads",
color=[0.4, 0.34, 0.34],
material="texture Ambient 1 0.4 0.34 0.34 1.0 Diffuse 0 0.4 0.34 0.34 1.0 Specular 1 0.4 0.34 0.34 0.1 Emissive 1 0.5 0.54 0.54 .01 Shininess 1 20",
name="visualOgl")
needleOGL.addObject("IdentityMapping")

FF = root.addChild("ForceFeedback")
FF.addObject("MechanicalObject", name="mstate_lcp", template="Rigid3d"
, showObject=False, src="@../Needle/needleBase/mstate_base")
FF.addObject("LCPForceFeedback", name="lcp_ff", activate=1, forceCoef=0.25)
FFBody = FF.addChild("Body")
FFBody.addObject("EdgeSetTopologyContainer", name="Container", src="@../../Needle/bodyCollision/Container_body")
FFBody.addObject("MechanicalObject", name="mstate_coli", constraint="@../../Needle/bodyCollision/mstate_body.constraint")
FFBody.addObject("RigidMapping")
FFTip = FF.addChild("Tip")
FFTip.addObject("PointSetTopologyContainer", name="Container", src="@../../Needle/tipCollision/Container_tip")
FFTip.addObject("MechanicalObject", name="mstate_coli", constraint="@../../Needle/tipCollision/mstate_tip.constraint")
FFTip.addObject("RigidMapping")

gelTopo = root.addChild("GelGridTopo")
gelTopo.addObject("RegularGridTopology", name="HexaTop", **g_gelRegularGridParameters)

volume = root.addChild("Volume")
volume.addObject("EulerImplicitSolver")
volume.addObject("EigenSimplicialLDLT", name="LinearSolver", template='CompressedRowSparseMatrixMat3x3d')
volume.addObject("TetrahedronSetTopologyContainer", name="TetraContainer", position="@../GelGridTopo/HexaTop.position")
volume.addObject("TetrahedronSetTopologyModifier", name="TetraModifier")
volume.addObject("Hexa2TetraTopologicalMapping", input="@../GelGridTopo/HexaTop", output="@TetraContainer", swapping=False)

volume.addObject("MechanicalObject", name="mstate_gel", template="Vec3d")
volume.addObject("TetrahedronGeometry", name="geom_tetra", mstate="@mstate_gel", topology="@TetraContainer", draw=False)
volume.addObject("AABBBroadPhase",name="AABBTetra",geometry="@geom_tetra",nbox=[3,3,3],thread=1)
volume.addObject("TetrahedronFEMForceField", name="FF",**g_gelMechanicalParameters)
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("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver")

volumeCollision = volume.addChild("collision")
volumeCollision.addObject("TriangleSetTopologyContainer", name="TriContainer")
volumeCollision.addObject("TriangleSetTopologyModifier", name="TriModifier")
volumeCollision.addObject("Tetra2TriangleTopologicalMapping", name="mapping", input="@../TetraContainer", output="@TriContainer", flipNormals=False)
volumeCollision.addObject("MechanicalObject", name="mstate_gelColi",position="@../TetraContainer.position")
volumeCollision.addObject("TriangleGeometry", name="geom_tri", mstate="@mstate_gelColi", topology="@TriContainer",draw=False)
volumeCollision.addObject("PhongTriangleNormalHandler", name="SurfaceTriangles", geometry="@geom_tri")
volumeCollision.addObject("AABBBroadPhase",name="AABBTriangles",thread=1,nbox=[2,2,3])

volumeCollision.addObject("IdentityMapping", name="identityMappingToCollision", input="@../mstate_gel", output="@mstate_gelColi", isMechanical=True)

volumeVisu = volumeCollision.addChild("visu")
volumeVisu.addObject("OglModel", position="@../TriContainer.position",
vertices="@../TriContainer.position",
triangles="@../TriContainer.triangles",
color=g_cubeColor,name="volume_visu",template="Vec3d")
volumeVisu.addObject("IdentityMapping")

volumeVisuWire = volume.addChild("visu_wire")
volumeVisuWire.addObject("OglModel", position="@../TetraContainer.position",
vertices="@../TetraContainer.position",
triangles="@../TetraContainer.triangles",
color=[1, 0, 1, 1],name="volume_visu",template="Vec3d")
volumeVisuWire.addObject("IdentityMapping")


root.addObject("InsertionAlgorithm", name="InsertionAlgo",
tipGeom="@Needle/tipCollision/geom_tip",
surfGeom="@Volume/collision/geom_tri",
shaftGeom="@Needle/bodyCollision/geom_body",
volGeom="@Volume/geom_tetra",
punctureForceThreshold=5.,
tipDistThreshold=0.003,
drawcollision=True,
drawPointsScale=0.0001
)
root.addObject("DistanceFilter",algo="@InsertionAlgo",distance=0.01)
root.addObject("SecondDirection",name="punctureDirection",handler="@Volume/collision/SurfaceTriangles")
root.addObject("ConstraintUnilateral",input="@InsertionAlgo.collisionOutput",directions="@punctureDirection",draw_scale=0.001, mu=0.003)

root.addObject("FirstDirection",name="bindDirection", handler="@Needle/bodyCollision/NeedleBeams")
root.addObject("ConstraintInsertion",input="@InsertionAlgo.insertionOutput", directions="@bindDirection",draw_scale=0.002, frictionCoeff=0.001)
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