SOFA - Topic: Multimaterial soft robotic finger simulation issue

Tagged: Linux_ubuntu, SOFA_2012
This topic has 0 replies, 1 voice, and was last updated 3 years, 2 months ago by Pasquale94.
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6 October 2021 at 15:14 #20523
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Hello everyone,
In these days i am trying a multimaterial simulation of soft robotic finger. Actually the soft robotic finger is formed by a cilinder of hyperelastic material and a reinforcement that is linear elastic.
For now i tried in this way:
Merged the mesh with the Sofa partitioning Tool of . Then in the python script i select the vertex of all the tetrahedra belonging to the reinforcement, and create a subtopology with that, changing the constitutive law (a linear elastic reinforcement and the internal cilinder hyperelastic).
The code seems to work because it really introduce an asimmetry in the deformation, but this asymmetry is not in the plane that i expected. In fact the finger bends in the Z-X plane, while i aspect a bending on Z-Y plane.(see in photo) finger-bending
My scene is like this :
# to be able to add sofa objects you need to first load the plugins that implement them.
# For simplicity you can load the plugin "SofaComponentAll" that will load all most
# common sofa objects.
import SofaRuntime
SofaRuntime.importPlugin("SofaComponentAll")

# to add elements like Node or objects
import Sofa.Core
root = Sofa.Core.Node()

import math 
import numpy as np

import os
path = os.path.dirname(os.path.abspath(__file__))+'/plot/'

class FingerController(Sofa.Core.Controller):

	def __init__(self, *args, **kwargs):
		Sofa.Core.Controller.__init__(self,*args, **kwargs) #needed

		self.node = kwargs['node']
		self.minimum = 0
		self.max = 0
		self.posmin = 0
		self.posmax = 0
		self.Positions =  kwargs['position']

		for i in range(0, len(self.Positions)):
			if self.Positions[i][2] <= self.max :
				self.max = self.Positions[i][2]
				self.posmax = i

		for j in range(0, len(self.Positions)):
			if self.Positions[j][2] >= self.minimum:
				self.minimum = self.Positions[j][2]
				self.posmin = j

	
		self.pressureValue =  kwargs['pressure']

		self.coeff = (self.Positions[self.posmin][2]-self.Positions[self.posmax][2])/(self.Positions[self.posmin][1]-self.Positions[self.posmax][1])
		self.angle = (math.atan(self.coeff))*180/math.pi-80.86

		print(str(self.angle) +' ' + str(self.posmax)+ ' ' + str(self.posmin) + '\n')

		self.tetra = kwargs['tetrahedra']

		self.tetra_reinf = []

		my_file = open("indicesmesh2.txt", "r")
		content = my_file.readlines()

		for i in range(0, len(content)):
			content[i] = int(content[i])
			pos = content[i]
			file1 = open("/home/pasquale/Script_Sofa/Antonio_hydrogel/tetra.txt","a")
			file1.write(str(self.tetra[pos])+ ' ' )
			file1.close()

	def onAnimateBeginEvent(self,event):

	
		##Inflating the finger

		self.time = self.node.time.value

		pressure = self.pressureValue.value[0] + 5

		if pressure > 40:
			pressure = 40

		self.pressureValue.value[0] = pressure

		coeff = (self.Positions[self.posmax][2]-self.Positions[self.posmin][2])/(self.Positions[self.posmax][1]-self.Positions[self.posmin][1])
		angle = (math.atan(coeff))*(180/math.pi)-80.86

		print(angle)
	

def createScene(rootNode):

	rootNode.addObject('RequiredPlugin', pluginName='SoftRobots SofaOpenglVisual SofaSparseSolver SofaPreconditioner SofaMiscCollision ')
	rootNode.addObject('VisualStyle', displayFlags='hideVisualModels showBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields hideInteractionForceFields hideWireframe')
	rootNode.addObject('RequiredPlugin', name='SoftRobots')
	rootNode.addObject('RequiredPlugin', name='SofaPython3')
	rootNode.addObject('RequiredPlugin', name='SofaSparseSolver')

	rootNode.gravity=[ 0, 0, 9810]
	rootNode.dt = 0.001
	rootNode.name = 'rootNode'
	rootNode.addObject('FreeMotionAnimationLoop')
	rootNode.addObject('GenericConstraintSolver', tolerance=1e-12, maxIterations=10000)
	rootNode.addObject('DefaultPipeline')
	rootNode.addObject('BruteForceDetection')
	rootNode.addObject('DefaultContactManager', response='FrictionContact', responseParams='mu=0.6')
	rootNode.addObject('LocalMinDistance', name='Proximity', alarmDistance=5, contactDistance=1, angleCone=0.0)
	rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765])
	rootNode.addObject('OglSceneFrame', style='Arrows', alignment='TopRight')

	finger = rootNode.addChild('finger')
	finger.addObject('EulerImplicitSolver', name='odesolver', rayleighStiffness=0.1, rayleighMass=0.1)
	finger.addObject('SparseLDLSolver', name='directSolver')
	finger.addObject('MeshVTKLoader', name='loader', filename='design/out_1.vtu',)
	tetras = finger.addObject('MechanicalObject', name='tetras', template='Vec3d', src = '@loader')
	finger.addObject('TetrahedronSetTopologyContainer', name="topo", src ='@loader')
	finger.addObject('TetrahedronSetTopologyModifier' ,  name="Modifier")
	#.addObject('TetrahedronSetTopologyAlgorithms', name="TopoAlgo", template="Vec3d")
	finger.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d" ,name="GeomAlgo", drawTriangles="1")

	finger.addObject('MeshMatrixMass', massDensity='0.9155e-6', src = '@topo')

	#finger.addObject('UniformMass', totalMass='0.030', src = '@topo')

	#mu1 =  77.02983133
	mu1 = 2*109        
	#alpha = 2.43174896
	#alpha = 1
	#k0 = 1/2.68592762e-3
	k0 = 1/1.150e-2

	finger.addObject('TetrahedronHyperelasticityFEMForceField', template='Vec3d', name='FEM', src ='@topo', ParameterSet=str(mu1)+' '+str(k0),materialName="NeoHookean")

	finger.addObject('BoxROI', name='boxROI', box=[-12, -10, 105.5, 30,30, 120.5], drawBoxes=True)
	finger.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
	finger.addObject('LinearSolverConstraintCorrection', solverName='directSolver')

	modelSubTopo = finger.addChild('modelSubTopo')
	modelSubTopo.addObject('MeshTopology',position = '@loader.position', tetrahedra= '2036 3851 1058 7735' + '\n' + '1422 1420 1421 5599' + '\n' + '5562 2370 5724  899' + '\n' + '  98 5535 5711 8018' + '\n' + '7985 8118 8066 1395' + '\n' + '6452 1598 4213 3413' + '\n' + '3748 1651 5687 2123' + '\n' + '809 806 817 835' + '\n' + '8223 4187 5429 5369' + '\n' + '6747 3421 3433 3423' + '\n' + '6000 7615 3153  736' + '\n' + '7420 5257  552 5255' + '\n' + '5188 2154 2674  685' + '\n' + ' 684  680 2506 2514' + '\n' + '1264 3891 2783 2612' + '\n' + '5898 1433 1432 7538' + '\n' + '3178 3188 5275 3367' + '\n' + '5965 2960 4638  675' + '\n' + '6803 6600 6598 2141' + '\n' + '4350 4349 4346 1936' + '\n' + '2590 3246 3250 2589' + '\n' + '1458 6713 4980 2977' + '\n' + '4077 2935 8091 8159' + '\n' + '5443 5710 6036 6240' + '\n' + '8039 7943 7922 3866' + '\n' + '7277  633 7276 8138' + '\n' + ' 389 1679 5634 4797' + '\n' + '4733 1593 2943 2757' + '\n' + '5737 3428 3421 5166' + '\n' + '6500 3714 1387 5055' + 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'\n' + '6264 5983 8138 5986' + '\n' + '1700   36 8122 1714' + '\n' + '6975 1839 1555 8004' + '\n' + '8110 2246 3938 8114' + '\n' + '3826 3075  422 5686' + '\n' + '7859 5823 3166 8221' + '\n' + '8082 3660 8075 2401' + '\n' + '8169  504 7415  505' + '\n' + '3152 5377 3153 8191' + '\n' + '3758 3757 8193 5181' + '\n' + '8154 7784 3006 6891' + '\n' + '7380 2241 8102 8140' + '\n' + '   8 2767 7464 5126' + '\n' + '4279 2516 4278 5977' + '\n' + '8012 4415 8084  741' + '\n' + '2045 5925  319 1706' + '\n' + ' 881 4700 8164 8064', name = 'container')
	modelSubTopo.addObject('TetrahedronFEMForceField', template='Rigid3d',src = '@container', name='FEM', method = 'large', poissonRatio = 0.45, youngModulus =  45000)
	#modelSubTopo.addObject('BarycentricMapping')
	#modelSubTopo.addObject('TetrahedronHyperelasticityFEMForceField', template='Vec3d', name='FEM', ParameterSet=str(100*mu1)+' '+str(k0),materialName="NeoHookean")

	cavity = finger.addChild('cavity')
	cavity.addObject('MeshSTLLoader', name='cavityLoader', filename='design/Actuator_HydrogelCavity.stl')
	cavity.addObject('MeshTopology', src='@cavityLoader', name='cavityMesh')
	cavity.addObject('MechanicalObject', name='cavity')
	cavity.addObject('SurfacePressureConstraint', name='SurfacePressureConstraint', template='Vec3d', value= 0, triangles='@cavityMesh.triangles', valueType='pressure')
	cavity.addObject('BarycentricMapping', name='mapping', mapForces=False, mapMasses=False)
	cavity.addObject(FingerController(node=rootNode, position = rootNode.finger.tetras.position.value, tetrahedra = rootNode.finger.loader.tetrahedra.value, pressure = rootNode.finger.cavity.SurfacePressureConstraint))

	return rootNode
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Multimaterial soft robotic finger simulation issue

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