[SOLVED] Changing the position of a mesh in python

[Anonymous]

How do I access the position of mesh in python. I tried to access through the mechanical object tag by the following:

self.mechanical = self.Scissors.createObject('MechanicalObject', showObject='1', src="@loader" )
position = self.mechanical.findData('position').value

But this give me a large list consisting of smaller lists containing 3 numbers.
[[1.1906100511550903, 5.980000019073486, 2.4926400184631348], [1.1906100511550903, 7.43612003326416, 2.4926400184631348], [1.9372400045394897, 8.846019744873047, 1.8829799890518188], [7.860889911651611, 2.255139989374257e-16, 3.6365199089050293], [6.349870204925537, 2.255139989374257e-16, 1.8927099704742432], [7.959199905395508, 5.980000019073486, 3.8707499504089355], [7.08128023147583, 5.980000019073486, 2.4926400184631348], [7.08128023147583, 7.43612003326416, 2.4926400184631348], [6.294620037078857, 8.910229682922363, 1.8578200340270996], [5.161280155181885, 10.05090045928955, 1.3730800151824951], [4.83480978012085, 8.548850059509277, 1.3027199506759644], [4.900949954986572, 8.859999656677246, 1.3147300481796265], [4.372350215911865, 8.132439613342285, 1.2494699954986572], [4.6478400230407715, 8.291489601135254, 1.2747600078582764], [4.83480978012085, 9.171150207519531, 1.3027199506759644], [4.6478400230407715, 9.428509712219238, 1.2747600078582764], [4.372350215911865, 9.587559700012207, 1.2494699954986572], [4.6630401611328125, 10.257699966430664, 1.2767000198364258], [4.135950088500977, 9.625, 1.2426400184631348], [4.135950088500977, 10.34529972076416, 1.2426700592041016], [3.4370899200439453, 9.171159744262695, 1.3027199506759644], [3.3876700401306152, 9.019049644470215, 1.3115899562835693], [3.080169916152954, 10.033499717712402, 1.3810800313949585], [3.6237499713897705, 9.42821979522705, 1.2747999429702759], [3.5910000801086426, 10.25220012664795, 1.2790600061416626], [3.3876700401306152, 8.700949668884277, 1.3115899562835693], [1.922029972076416, 2.255139989374257e-16, 1.8927099704742432], [3.3709499835968018, 8.860369682312012, 1.3147300481796265], [3.51705002784729, 8.410340309143066, 1.289680004119873], [3.7534499168395996, 8.197489738464355, 1.2605400085449219], [4.135950088500977, 8.095000267028809, 1.2426400184631348], [4.135950088500977, 2.255139989374257e-16, 1.2426400184631348], [0.31269899010658264, 5.980000019073486, 3.8707499504089355], [0.8002610206604004, 2.255139989374257e-16, 2.9623100757598877], [0.04558819904923439, 2.255139989374257e-16, 5.142789840698242], [0.08263110369443893, 2.255139989374257e-16, 5.920420169830322], [0.31269899010658264, 5.980000019073486, 6.804530143737793], [1.9768699407577515, 8.909540176391602, 8.81721019744873], [1.1906100511550903, 7.436110019683838, 8.182640075683594], [2.259510040283203, 2.255139989374257e-16, 8.97741985321045], [1.1906100511550903, 5.980000019073486, 8.182640075683594], [2.220439910888672, 9.25901985168457, 8.956430435180664], [3.7467000484466553, 8.20143985748291, 9.41409969329834], [3.51705002784729, 8.410340309143066, 9.385600090026855], [3.3876700401306152, 8.700949668884277, 9.363690376281738], [3.4370501041412354, 9.171070098876953, 9.372559547424316], [3.7534499168395996, 9.522509574890137, 9.414739608764648], [3.1102800369262695, 10.050399780273438, 9.302109718322754], [4.13601016998291, 10.345199584960938, 9.43262004852295], [4.055990219116211, 9.620809555053711, 9.431859970092773], [4.372350215911865, 9.587559700012207, 9.425809860229492], [4.83480978012085, 9.171150207519531, 9.372570037841797], [4.900949954986572, 8.859999656677246, 9.360549926757812], [5.43927001953125, 9.871109962463379, 9.21969985961914], [4.938889980316162, 10.159500122070312, 9.353150367736816], [4.754630088806152, 9.30996036529541, 9.385629653930664], [4.525199890136719, 2.255139989374257e-16, 9.41409969329834], [4.884270191192627, 8.70110034942627, 9.363690376281738], [4.83480978012085, 8.548850059509277, 9.372570037841797], [4.6478400230407715, 8.291489601135254, 9.400520324707031], [6.098549842834473, 9.198479652404785, 8.931699752807617], [7.230740070343018, 2.255139989374257e-16, 8.01928997039795], [7.08128023147583, 7.436110019683838, 8.182640075683594], [7.08128023147583, 5.980000019073486, 8.182640075683594], [7.959199905395508, 5.980000019073486, 6.804530143737793], [8.005729675292969, 2.255139989374257e-16, 6.676980018615723], [8.226309776306152, 2.255139989374257e-16, 5.142789840698242], [4.372350215911865, 8.132439613342285, 9.425809860229492], [3.8996500968933105, 8.132410049438477, 9.425820350646973], [3.7534499168395996, 9.522509574890137, 8.182640075683594], [4.135950088500977, 10.8100004196167, 8.182640075683594], [4.055990219116211, 9.620809555053711, 8.182640075683594], [4.372350215911865, 9.587559700012207, 8.182640075683594], [3.51705002784729, 8.410340309143066, 8.182640075683594], [3.7534499168395996, 8.197489738464355, 8.182640075683594], [4.055990219116211, 8.099189758300781, 8.182640075683594], [4.6478400230407715, 9.428509712219238, 8.182640075683594], [5.444049835205078, 10.334099769592285, 8.182640075683594], [4.83480978012085, 9.171150207519531, 8.182640075683594], [6.195580005645752, 9.531439781188965, 8.182640075683594], [4.900949954986572, 8.859999656677246, 8.182640075683594], [4.592919826507568, 10.744099617004395, 8.182640075683594], [3.51705002784729, 9.309659957885742, 8.182640075683594], [2.827850103378296, 10.334099769592285, 8.182640075683594], [3.3876700401306152, 8.700949668884277, 8.182640075683594], [3.3876700401306152, 9.019049644470215, 8.182640075683594], [2.076319932937622, 9.531439781188965, 8.182640075683594], [4.372350215911865, 8.132439613342285, 8.182640075683594], [4.6478400230407715, 8.291489601135254, 8.182640075683594], [4.83480978012085, 8.548850059509277, 8.182640075683594], [4.372350215911865, 8.132439613342285, 2.4926400184631348], [4.83480978012085, 8.548850059509277, 2.4926400184631348], [4.6478400230407715, 8.291489601135254, 2.4926400184631348], [4.6478400230407715, 9.428509712219238, 2.4926400184631348], [4.592919826507568, 10.744099617004395, 2.4926400184631348], [4.372350215911865, 9.587559700012207, 2.4926400184631348], [4.055990219116211, 9.620809555053711, 2.4926400184631348], [4.83480978012085, 9.171150207519531, 2.4926400184631348], [5.444049835205078, 10.334099769592285, 2.4926400184631348], [4.055990219116211, 8.099189758300781, 2.4926400184631348], [3.7534499168395996, 8.197489738464355, 2.4926400184631348], [3.51705002784729, 8.410340309143066, 2.4926400184631348], [4.900949954986572, 8.859999656677246, 2.4926400184631348], [6.195580005645752, 9.531439781188965, 2.4926400184631348], [3.6789801120758057, 10.744099617004395, 2.4926400184631348], [3.7534499168395996, 9.522509574890137, 2.4926400184631348], [3.3876700401306152, 9.019049644470215, 2.4926400184631348], [3.3876700401306152, 8.700949668884277, 2.4926400184631348], [2.827850103378296, 10.334099769592285, 2.4926400184631348], [3.51705002784729, 9.309659957885742, 2.4926400184631348], [2.076319932937622, 9.531439781188965, 2.4926400184631348], [2.348259925842285, 9.886679649353027, 2.0387299060821533], [2.813080072402954, 10.323100090026855, 1.9001100063323975], [3.605649948120117, 10.723999977111816, 1.7661800384521484], [4.135970115661621, 10.809599876403809, 1.739259958267212], [3.3286900520324707, 10.623800277709961, 8.874480247497559], [4.136529922485352, 10.809700012207031, 8.935819625854492], [2.836019992828369, 10.340100288391113, 8.78048038482666], [5.923719882965088, 9.88659954071045, 8.636420249938965], [5.458859920501709, 10.323100090026855, 8.775090217590332], [4.666200160980225, 10.723999977111816, 8.909040451049805], [4.437709808349609, 10.777799606323242, 1.7477400302886963], [5.436059951782227, 10.339900016784668, 1.8946199417114258], [5.908430099487305, 9.90414047241211, 2.033250093460083]]

[Rouven]

Hello Fayad,

the output you received is the coordinate of each individual node in your mesh. Each node has three dimensions. Can you specify what you mean by the position of a mesh?

Greetings,
Rouven

[Anonymous]

Thats what I meant, apparently I have to change the position of all the points by iterating through them, Thanks. I just need now to access to rotation coordinates, do you have any idea?

Thanks in advance.

[Anonymous]

Also when I change the position of the mesh, only the nodes move, but not the visual model, do you know how can I move that too. Thanks.

[Hugo]

Hi Fayad,

To rotate an object, you need to use a TransformEngine.
Or you can do it manually using python.

Regarding the visual model not following, is there a mapping making the correspondence between the mechanical and the visual model ?

Best

Hugo

[Anonymous]

Just to clear things, what I want is the following:

I have a Rigid model that I want to control using the keys, I achieved controlling the x,y,z axes, but now I need to control the orientation/rotation of the model (quaternion), but I am not sure how to do it through python.

In addition, I am not sure how to link the mechanical object to the visual model (oglModel).

Best,
Fayad

[Damien Marchal]

Hi Fayad,

We have in the STLIB plugin some class to ease the manipulation of rigid body from python.

The plugin is here:
https://github.com/SofaDefrost/STLIB

More specifically the code to ease the manipulation is at line 103 (the RigidDof class) at
https://github.com/SofaDefrost/STLIB/blob/master/python/splib/numerics/__init__.py

All this code is drafted and we hope that the next version of the plugin SofaPython3 will solve all that removing the need of these.

There is also similar script in the Compliant plugin (that is already in Sofa). If I remember correctly it is in the python applications/plugins/Compliant/python/StructuralAPI.py

Regards,

EDIT: About the line
‘position = self.mechanical.findData(‘position’).value’
You can alternatively do
‘position= self.mechanical.position’

[Author]

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