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[parts] add valid state check to centerpart #56

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[parts] add valid state check to centerpart #56

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54 changes: 33 additions & 21 deletions emio/parts/centerpart.py
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,7 @@ def createScene(root):
{'name': 'rotation', 'type': 'Vec3d', 'help': '', 'default': [0, 0, 0]}
]

_validState = True

def _getFilePath(self, filename) -> str:
"""
Expand Down Expand Up @@ -100,41 +101,52 @@ def _checkFile(self, filename) -> bool:
Sofa.msg_error(self.getName(), f'Missing file: {filename} in data/meshes/centerparts directory.')
return False


def isValid(self) -> bool:
"""
Check if the centerpart is in a valid state. Returns True if the centerpart is in a valid state, False otherwise.
"""
return self._validState

def __init__(self, *args, **kwargs):
Sofa.Prefab.__init__(self, *args, **kwargs)

self._addRequiredPlugins()

filename = self.partName.value + '.json'
self._checkFile(filename)
self._params = json.load(open(self._getFilePath(filename)))

self.flip = False
if self.rotation[0] == 180: # the legs are pointing upward, we flip the center part
self.flip = True

self._checkFile(self.partName.value + '.stl')
match self.type.value:
case "deformable":
self._addDeformableCenterPart()
case "rigid":
self._addRigidCenterPart()
case _:
Sofa.msg_error("centerpart.py", 'Unknown model, value should be "deformable", or "rigid".')
return

self._addVisualModel()

if self._checkFile(filename):
self._params = json.load(open(self._getFilePath(filename)))

self.flip = False
if self.rotation[0] == 180: # the legs are pointing upward, we flip the center part
self.flip = True

if self._checkFile(self.partName.value + '.stl'):
match self.type.value:
case "deformable":
if self._checkFile(self.partName.value + '.vtk'):
self._addDeformableCenterPart()
else:
self._validState = False
return
case "rigid":
self._addRigidCenterPart()
case _:
Sofa.msg_error("centerpart.py", 'Unknown model, value should be "deformable", or "rigid".')
return
self._addVisualModel()
else:
self._validState = False

else:
self._validState = False

def _addDeformableCenterPart(self):
"""
Add a deformable center part to the simulation.
The part is created using a tetrahedral mesh loaded from a VTK file. The mass density, Poisson's ratio, and Young's modulus
are set based on the parameters provided. The part is then attached to the legs using a rigid mapping.
"""
self._checkFile(self.partName.value + '.vtk')

# Load the mesh and create the topology, mechanical object, mass and force field
# This node contains the entire object
part = Sofa.Core.Node("EntireObject")
Expand Down
32 changes: 19 additions & 13 deletions emio/parts/robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -231,21 +231,27 @@ def __init__(self, centerPartClass=CenterPart, *args, **kwargs):
if self.centerPartName.value is not None and self.centerPartName.value != "None":
color = getColorFromFilename(self.centerPartName.value) if "blue" not in self.centerPartName.value else RGBAColor.lightblue
self.centerpart = centerPartClass(name="CenterPart",
positions=centerPartPositions,
partName=self.centerPartName.value,
model=self.centerPartModel.value,
massDensity=self.centerPartMassDensity.value,
poissonRatio=self.centerPartPoissonRatio.value,
youngModulus=self.centerPartYoungModulus.value,
type=self.centerPartType.value,
color=color,
rotation=[0, 0, 0] if "down" in legsPositionOnMotor[0] else [180, 180, 0]
)
if self.centerPartType.value == "rigid":
self.effector = self.centerpart.addChild("Effector")
positions=centerPartPositions,
partName=self.centerPartName.value,
model=self.centerPartModel.value,
massDensity=self.centerPartMassDensity.value,
poissonRatio=self.centerPartPoissonRatio.value,
youngModulus=self.centerPartYoungModulus.value,
type=self.centerPartType.value,
color=color,
rotation=[0, 0, 0] if "down" in legsPositionOnMotor[0] else [180, 180, 0]
)
if self.centerpart.isValid():
if self.centerPartType.value == "rigid":
self.effector = self.centerpart.addChild("Effector")
else:
self.effector = self.centerpart.attach.addChild("Effector")
else:
self.effector = self.centerpart.attach.addChild("Effector")
self._validState = False
self.addChild(self.centerpart)

# Structure and camera visual
if self._validState:
self._addBox()
self._addCamera()

Expand Down
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