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fix(example): sofa update" #34

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Merged
AlessandriniAntoine merged 1 commit into from
Mar 25, 2026
Merged

fix(example): sofa update" #34

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2 changes: 1 addition & 1 deletion examples/advanced/sofa/gui/finger/Finger.py
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,7 @@ def createScene(rootNode):
pullPoint=[0.0, 12.5, 2.5])
cable.addObject('BarycentricMapping')

controller = FingerController(rootNode, cable.aCableActuator, finger.tetras)
controller = FingerController(cable.aCableActuator, finger.tetras)
finger.addObject(controller)

##########################################
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12 changes: 4 additions & 8 deletions examples/advanced/sofa/gui/finger/FingerController.py
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Original file line number Diff line number Diff line change
@@ -1,25 +1,21 @@
from pathlib import Path
import numpy as np
from pySimBlocks.blocks.systems.sofa import SofaPysimBlocksController

import Sofa

from pathlib import Path

BASE_DIR = Path(__file__).resolve().parent




class FingerController(SofaPysimBlocksController):

def __init__(self, root, actuator, mo, tip_index=121, name="FingerController"):
super().__init__(root, name=name)
self.project_yaml = str((BASE_DIR / '../sofa_plant/project.yaml').resolve())
def __init__(self, actuator, mo, tip_index=121, name="FingerController"):
super().__init__(name=name)
self.project_yaml = str((BASE_DIR / '../sofa_exchange/project.yaml').resolve())

self.mo = mo
self.actuator = actuator
self.tip_index = tip_index
self.dt = root.dt.value
self.verbose = True

# Inputs & outputs dictionaries
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2 changes: 1 addition & 1 deletion examples/advanced/sofa/python/Finger.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,7 @@ def createScene(rootNode):
pullPoint=[0.0, 12.5, 2.5])
cable.addObject('BarycentricMapping')

controller = FingerController(rootNode, cable.aCableActuator, finger.tetras)
controller = FingerController(cable.aCableActuator, finger.tetras)
finger.addObject(controller)

##########################################
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7 changes: 2 additions & 5 deletions examples/advanced/sofa/python/FingerController.py
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Original file line number Diff line number Diff line change
@@ -1,18 +1,15 @@
import numpy as np
from pySimBlocks.blocks.systems.sofa import SofaPysimBlocksController

import Sofa


class FingerController(SofaPysimBlocksController):

def __init__(self, root, actuator, mo, tip_index=121, name="FingerController"):
super().__init__(root, name=name)
def __init__(self, actuator, mo, tip_index=121, name="FingerController"):
super().__init__(name=name)

self.mo = mo
self.actuator = actuator
self.tip_index = tip_index
self.dt = root.dt.value

# Inputs & outputs dictionaries
self.inputs = { "cable": None }
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