Apply SOFA PR 4750 changes

CMakeLists.txt

@@ -27,7 +27,8 @@ set(HEADER_FILES
     ${MOR_SRC}/component/forcefield/HyperReducedHexahedronFEMForceField.h
     ${MOR_SRC}/component/forcefield/HyperReducedHexahedronFEMForceField.inl
     ${MOR_SRC}/component/forcefield/HyperReducedRestShapeSpringsForceField.h
-    ${MOR_SRC}/component/forcefield/HyperReducedRestShapeSpringsForceField.inl
+    ${MOR_SRC}/component/forcefield/HyperReducedFixedWeakConstraint.h
+    ${MOR_SRC}/component/forcefield/HyperReducedFixedWeakConstraint.inl
     ${MOR_SRC}/component/forcefield/HyperReducedTetrahedralCorotationalFEMForceField.h
     ${MOR_SRC}/component/forcefield/HyperReducedTetrahedralCorotationalFEMForceField.inl
     ${MOR_SRC}/component/forcefield/HyperReducedTetrahedronFEMForceField.h
@@ -58,6 +59,7 @@ set(SOURCE_FILES
     ${MOR_SRC}/component/forcefield/HyperReducedHelper.cpp
     ${MOR_SRC}/component/forcefield/HyperReducedHexahedronFEMForceField.cpp
     ${MOR_SRC}/component/forcefield/HyperReducedRestShapeSpringsForceField.cpp
+    ${MOR_SRC}/component/forcefield/HyperReducedFixedWeakConstraint.cpp
     ${MOR_SRC}/component/forcefield/HyperReducedTetrahedralCorotationalFEMForceField.cpp
     ${MOR_SRC}/component/forcefield/HyperReducedTetrahedronFEMForceField.cpp
     ${MOR_SRC}/component/forcefield/HyperReducedTetrahedronHyperelasticityFEMForceField.cpp

examples/organs/liver/liverFineHyperElastic.pyscn

@@ -45,8 +45,8 @@ def createScene(rootNode):
     liver.addObject('TetrahedronHyperelasticityFEMForceField',materialName="NeoHookean", ParameterSet=str(mu_) + " " + str(k0_), AnisotropyDirections="")        	 
 
 
-    liver.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = '1e8')
-    liver.addObject('RestShapeSpringsForceField' , external_points = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], points = '@boxROIactuation.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState')
+    liver.addObject('FixedWeakConstraint', indices='@ROI1.indices', stiffness = '1e8')
+    liver.addObject('RestShapeSpringsForceField' , externalIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], indices = '@boxROIactuation.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState')
 
     visu = liver.addChild('visu')
     visu.addObject(  'MeshOBJLoader', name= 'loader', filename=meshPath+'liver-smoothUV.obj')

examples/organs/liver/liverFine_gravity.py

@@ -45,7 +45,7 @@ def createScene(rootNode):
 
     liver.addObject('UniformMass', totalMass=0.3)
     liver.addObject('TetrahedronFEMForceField', poissonRatio="0.3", youngModulus="5000")
-    liver.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = '1e8')
+    liver.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness = '1e8')
 
     # Add a visual model
     visu = liver.addChild('visu')

examples/organs/liver/liverFine_rotationalActuation.py

@@ -47,8 +47,8 @@ def createScene(rootNode):
 
     liver.addObject('UniformMass', totalMass=0.3)
     liver.addObject('TetrahedronFEMForceField', poissonRatio="0.3", youngModulus="5000")
-    liver.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = '1e8')
-    liver.addObject('RestShapeSpringsForceField' , external_points = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], points = '@boxROIactuation.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState')
+    liver.addObject('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness = '1e8')
+    liver.addObject('RestShapeSpringsForceField' , externalIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], indices = '@boxROIactuation.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState')
 
     visu = liver.addChild('visu')
     visu.addObject(  'MeshOBJLoader', name= 'loader', filename=meshPath+'liver-smoothUV.obj')

examples/organs/liver/reduced/liver/reduced_liverFine.py

@@ -77,8 +77,8 @@ def Reduced_test(
     liver.addObject('BoxROI' , name= 'boxROIactuation' , orientedBox= newBox([[-5.0, 0.5, -0.5], [-5.0, 0.0, -0.5], [-4.0, 0.0, -0.5]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 0.5],scale) + multiply(scale[2],[1.0]).tolist(),drawBoxes=True)
     liver.addObject('UniformMass' , totalMass = 0.3)
     liver.addObject('HyperReducedTetrahedronFEMForceField' , poissonRatio = '0.3', youngModulus = '5000', name = 'reducedFF_liver_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_0_RID.txt', weightsPath = path + r'/data/reducedFF_liver_0_weight.txt')
-    liver.addObject('HyperReducedRestShapeSpringsForceField' , points = '@ROI1.indices', stiffness = '1e8', name = 'reducedFF_liver_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_1_RID.txt', weightsPath = path + r'/data/reducedFF_liver_1_weight.txt')
-    liver.addObject('HyperReducedRestShapeSpringsForceField' , external_points = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], points = '@boxROIactuation.indices', name = 'reducedFF_liver_2', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_2_RID.txt', weightsPath = path + r'/data/reducedFF_liver_2_weight.txt')
+    liver.addObject('HyperReducedFixedWeakConstraint' , indices = '@ROI1.indices', stiffness = '1e8', name = 'reducedFF_liver_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_1_RID.txt', weightsPath = path + r'/data/reducedFF_liver_1_weight.txt')
+    liver.addObject('HyperReducedRestShapeSpringsForceField' , externalIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], indices = '@boxROIactuation.indices', name = 'reducedFF_liver_2', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_2_RID.txt', weightsPath = path + r'/data/reducedFF_liver_2_weight.txt')
     liver.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./MechanicalObject')
 
 

examples/organs/liver/reduced/liver_hyperElastic/reduced_liverFineHyperElastic.py

@@ -77,8 +77,8 @@ def Reduced_test(
     liver.addObject('BoxROI' , name= 'boxROIactuation' , orientedBox= newBox([[-5.0, 0.5, -0.5], [-5.0, 0.0, -0.5], [-4.0, 0.0, -0.5]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 0.5],scale) + multiply(scale[2],[1.0]).tolist(),drawBoxes=True)
     liver.addObject('UniformMass' , totalMass = 0.3)
     liver.addObject('HyperReducedTetrahedronHyperelasticityFEMForceField' , materialName = 'NeoHookean', ParameterSet = '1923.076923076923 4166.666666666666', AnisotropyDirections = '', name = 'reducedFF_liver_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_0_RID.txt', weightsPath = path + r'/data/reducedFF_liver_0_weight.txt')
-    liver.addObject('HyperReducedRestShapeSpringsForceField' , points = '@ROI1.indices', stiffness = '1e8', name = 'reducedFF_liver_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_1_RID.txt', weightsPath = path + r'/data/reducedFF_liver_1_weight.txt')
-    liver.addObject('HyperReducedRestShapeSpringsForceField' , external_points = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], points = '@boxROIactuation.indices', name = 'reducedFF_liver_2', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_2_RID.txt', weightsPath = path + r'/data/reducedFF_liver_2_weight.txt')
+    liver.addObject('HyperReducedFixedWeakConstraint' , indices = '@ROI1.indices', stiffness = '1e8', name = 'reducedFF_liver_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_1_RID.txt', weightsPath = path + r'/data/reducedFF_liver_1_weight.txt')
+    liver.addObject('HyperReducedRestShapeSpringsForceField' , externalIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], indices = '@boxROIactuation.indices', name = 'reducedFF_liver_2', stiffness = '1e8', external_rest_shape = '@actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_liver_2_RID.txt', weightsPath = path + r'/data/reducedFF_liver_2_weight.txt')
     liver.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./MechanicalObject')
 
 

examples/others/hexaBeam/hexaBeam.pyscn

@@ -34,7 +34,7 @@ def createScene(rootNode):
     M1.addObject('MechanicalObject')
     M1.addObject('UniformMass', totalMass="0.1")
     M1.addObject('RegularGridTopology', nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19")
-    M1.addObject('RestShapeSpringsForceField', points="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15", stiffness=1e12)
+    M1.addObject('FixedWeakConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15", stiffness=1e12)
     M1.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large")
     M1.addObject('GenericConstraintCorrection')
 

examples/others/hexaBeam/reduced/reduced_hexaBeam.py

@@ -73,7 +73,7 @@ def Reduced_test(
     M1.addObject('MechanicalObject')
     M1.addObject('UniformMass' , totalMass = '0.1')
     M1.addObject('RegularGridTopology' , nx = '4', ny = '4', nz = '20', xmin = '-9', xmax = '-6', ymin = '0', ymax = '3', zmin = '0', zmax = '19')
-    M1.addObject('HyperReducedRestShapeSpringsForceField' , points = '0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15', stiffness = 1000000000000.0, name = 'reducedFF_M1_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_M1_0_RID.txt', weightsPath = path + r'/data/reducedFF_M1_0_weight.txt')
+    M1.addObject('HyperReducedFixedWeakConstraint' , indices = '0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15', stiffness = 1000000000000.0, name = 'reducedFF_M1_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_M1_0_RID.txt', weightsPath = path + r'/data/reducedFF_M1_0_weight.txt')
     M1.addObject('HyperReducedHexahedronFEMForceField' , name = 'reducedFF_M1_1', youngModulus = '4000', poissonRatio = '0.3', method = 'large', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_M1_1_RID.txt', weightsPath = path + r'/data/reducedFF_M1_1_weight.txt')
     M1.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./MechanicalObject')
 

examples/softRobots/diamond/reduced/diamond/reduced_diamondRobot.py

@@ -87,7 +87,7 @@ def Reduced_test(
 
     FixedBox = modelNode.addChild('FixedBox')
     FixedBox.addObject('BoxROI' , name= 'BoxROI' , orientedBox= newBox([[-15, 15, -40], [-15, -15, -40], [15, -15, -40]] , [0.0, 0.0, 35],translation,rotation,[0, 0, 25.0],scale) + multiply(scale[2],[50]).tolist(),drawBoxes=True)
-    FixedBox.addObject('HyperReducedRestShapeSpringsForceField' , points = '@BoxROI.indices', stiffness = 1000000000000.0, name = 'reducedFF_FixedBox_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_FixedBox_1_RID.txt', weightsPath = path + r'/data/reducedFF_FixedBox_1_weight.txt')
+    FixedBox.addObject('HyperReducedFixedWeakConstraint' , indices = '@BoxROI.indices', stiffness = 1000000000000.0, name = 'reducedFF_FixedBox_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_FixedBox_1_RID.txt', weightsPath = path + r'/data/reducedFF_FixedBox_1_weight.txt')
 
 
     north = modelNode.addChild('north')

examples/softRobots/diamond/reduced/diamond_hyperElastic/reduced_diamondRobotHyperElastic.py

@@ -81,7 +81,7 @@ def Reduced_test(
 
     FixedBox = modelNode.addChild('FixedBox')
     FixedBox.addObject('BoxROI' , name= 'BoxROI' , orientedBox= newBox([[-15, 15, -40], [-15, -15, -40], [15, -15, -40]] , [0.0, 0.0, 35],translation,rotation,[0, 0, 25.0],scale) + multiply(scale[2],[50]).tolist(),drawBoxes=True)
-    FixedBox.addObject('HyperReducedRestShapeSpringsForceField' , points = '@BoxROI.indices', stiffness = 1000000000000.0, name = 'reducedFF_FixedBox_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_FixedBox_1_RID.txt', weightsPath = path + r'/data/reducedFF_FixedBox_1_weight.txt')
+    FixedBox.addObject('HyperReducedFixedWeakConstraint' , indices = '@BoxROI.indices', stiffness = 1000000000000.0, name = 'reducedFF_FixedBox_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_FixedBox_1_RID.txt', weightsPath = path + r'/data/reducedFF_FixedBox_1_weight.txt')
 
 
     north = modelNode.addChild('north')

examples/softRobots/finger/finger.pyscn

@@ -62,9 +62,9 @@ def createScene(rootNode):
     # Or "SphereROI"...
     # finger.addObject('SphereROI', name='ROI', centers='0 0 0', radii='5')
 
-    # RestShapeSpringsForceField is one way in Sofa to implement fixed point constraint.
+    # FixedWeakConstraint 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('FixedWeakConstraint', indices='@ROI1.indices', stiffness=1e12)
 
     ##########################################
     # Cable                                  #

examples/softRobots/finger/reduced/reduced_finger.py

@@ -77,7 +77,7 @@ def Reduced_test(
     finger.addObject('UniformMass' , totalMass = 0.05)
     finger.addObject('HyperReducedTetrahedronFEMForceField' , poissonRatio = '0.45', youngModulus = '600', name = 'reducedFF_finger_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_finger_0_RID.txt', weightsPath = path + r'/data/reducedFF_finger_0_weight.txt')
     finger.addObject('BoxROI' , name= 'ROI1' , orientedBox= newBox([[-15, 10, 0], [-15, 0, 0], [5, 0, 0]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 7.5],scale) + multiply(scale[2],[15]).tolist(),drawBoxes=True)
-    finger.addObject('HyperReducedRestShapeSpringsForceField' , points = '@ROI1.indices', stiffness = 1000000000000.0, name = 'reducedFF_finger_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_finger_1_RID.txt', weightsPath = path + r'/data/reducedFF_finger_1_weight.txt')
+    finger.addObject('HyperReducedFixedWeakConstraint' , indices = '@ROI1.indices', stiffness = 1000000000000.0, name = 'reducedFF_finger_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_finger_1_RID.txt', weightsPath = path + r'/data/reducedFF_finger_1_weight.txt')
     finger.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./MechanicalObject')
 
 

examples/softRobots/sofiaLeg/reduced/reduced_sofiaLeg.py

@@ -76,10 +76,10 @@ def Reduced_SofiaLeg(
     SofiaLeg.addObject('UniformMass' , totalMass = 0.01)
     SofiaLeg.addObject('HyperReducedTetrahedronFEMForceField' , youngModulus = 300, poissonRatio = 0.45, name = 'reducedFF_SofiaLeg_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_SofiaLeg_0_RID.txt', weightsPath = path + r'/data/reducedFF_SofiaLeg_0_weight.txt')
     SofiaLeg.addObject('BoxROI' , name = 'boxROITop', orientedBox = [[-12.0, 53.0, 0.0], [12.0, 53.0, 0.0], [12.0, 64.0, 0.0], 16.0], drawBoxes = True)
-    SofiaLeg.addObject('HyperReducedRestShapeSpringsForceField' , name = 'reducedFF_SofiaLeg_1', points = '@boxROITop.indices', stiffness = '1e8', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_SofiaLeg_1_RID.txt', weightsPath = path + r'/data/reducedFF_SofiaLeg_1_weight.txt')
+    SofiaLeg.addObject('HyperReducedFixedWeakConstraint' , name = 'reducedFF_SofiaLeg_1', indices = '@boxROITop.indices', stiffness = '1e8', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_SofiaLeg_1_RID.txt', weightsPath = path + r'/data/reducedFF_SofiaLeg_1_weight.txt')
     SofiaLeg.addObject('BoxROI' , name = 'boxROICollision', orientedBox = [[-25.0, -41.0, -7.0], [25.0, -42.0, -7.0], [25.0, -39.0, -7.0], 2.0, [-25.0, -42.0, 7.0], [25.0, -42.0, 7.0], [25.0, -39.0, 7.0], 2.0], drawPoints = '0', computeEdges = '0', computeTriangles = '0', computeTetrahedra = '0', computeHexahedra = '0', computeQuad = '0', drawSize = 5, drawBoxes = True)
     SofiaLeg.addObject('BoxROI' , name = 'boxROIMiddle', orientedBox = [[-2.5, -8.5, 0.0], [2.5, -8.5, 0.0], [2.5, -3.5, 0.0], 18.0], drawBoxes = True)
-    SofiaLeg.addObject('HyperReducedRestShapeSpringsForceField' , external_points = [0, 1, 2], points = '@boxROIMiddle.indices', name = 'reducedFF_SofiaLeg_2', stiffness = '1e8', external_rest_shape = '@../../SofiaLeg_actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_SofiaLeg_2_RID.txt', weightsPath = path + r'/data/reducedFF_SofiaLeg_2_weight.txt')
+    SofiaLeg.addObject('HyperReducedRestShapeSpringsForceField' , externalIndices = [0, 1, 2], indices = '@boxROIMiddle.indices', name = 'reducedFF_SofiaLeg_2', stiffness = '1e8', external_rest_shape = '@../../SofiaLeg_actuator/actuatorState', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_SofiaLeg_2_RID.txt', weightsPath = path + r'/data/reducedFF_SofiaLeg_2_weight.txt')
     SofiaLeg.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./tetras')
 
 

examples/softRobots/sofiaLeg/sofiaLeg.py

@@ -73,7 +73,7 @@ def SofiaLeg(
 
     #To fix the Top part of the leg
     leg.addObject('BoxROI' , name= 'boxROITop' , orientedBox= newBox([[-12.0, 53.0, 0], [12.0, 53.0, 0], [12.0, 64.0, 0]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 0.0],scale) + multiply(scale[2],[16.0]).tolist(),drawBoxes=True)
-    leg.addObject('RestShapeSpringsForceField', name = 'fixedTopForceField', points = '@boxROITop.indices', stiffness = '1e8')
+    leg.addObject('RestShapeSpringsForceField', name = 'fixedTopForceField', indices = '@boxROITop.indices', stiffness = '1e8')
 
     #Box to add collisions only on the tip of the leg
     leg.addObject('BoxROI', name='boxROICollision', orientedBox= newBox(
@@ -87,7 +87,7 @@ def SofiaLeg(
 
     #To Actuate our leg we select some elements in the middle of our leg, add a Spring to them, then add an external_rest_shape that will allow us 
     leg.addObject('BoxROI' , name= 'boxROIMiddle' , orientedBox= newBox([[-2.5, -8.5, 0], [2.5, -8.5, 0], [2.5, -3.5, 0]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 0.0],scale) + multiply(scale[2],[18.0]).tolist(),drawBoxes=True)
-    leg.addObject('RestShapeSpringsForceField' , external_points =[i for i in range(3)], points = '@boxROIMiddle.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@../'+name+'_actuator/actuatorState')
+    leg.addObject('RestShapeSpringsForceField' , externalIndices =[i for i in range(3)], indices = '@boxROIMiddle.indices', name = 'actuatorSpring', stiffness = '1e8', external_rest_shape = '@../'+name+'_actuator/actuatorState')
 
     SofiaLeg_actuator = attachedTo.addChild(name+'_actuator')
     SofiaLeg_actuator.addObject('MechanicalObject' , name = 'actuatorState', position = '@../'+name+'/boxROIMiddle.pointsInROI', template = 'Vec3d', showObject = True, showObjectScale=5)

python/mor/utility/sceneCreation.py

@@ -34,7 +34,8 @@
                             'HyperReducedHexahedronFEMForceField':'hexahedra',
                             'HyperReducedTetrahedronFEMForceField':'tetrahedra',
                             'HyperReducedTriangleFEMForceField':'triangles',
-                            'HyperReducedRestShapeSpringsForceField':'points'
+                            'HyperReducedRestShapeSpringsForceField':'indices',
+                            'FixedWeakConstraint':'indices'
                         }
 
 import Sofa