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Merge pull request #155 from epernod/fix_mecha_getters
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[src] Update RodSection, WireRestShape and All BeamInterpolation to correctly redirect the getters to the Data
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@bakpaul
bakpaul authored Jul 26, 2024
2 parents 930781f + 5bbf74e commit d966a31
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26 changes: 13 additions & 13 deletions examples/3instruments.scn
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Expand Up @@ -21,9 +21,9 @@

<!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) ------------------------------ -->

<Node name='topoLines_cath'>
<RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="40" nbEdgesVisu="120" length="600.0" radius='1'/>
<RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0" radius='1'/>
<Node name='topoLines_cath'>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="40" nbEdgesVisu="120" length="600.0" radius='1'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0" radius='1'/>

<WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -33,8 +33,8 @@
<MechanicalObject template='Rigid3d' name='dofTopo1' />
</Node>
<Node name='topoLines_guide'>
<RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0" radius='0.9'/>
<RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0" radius='0.9'/>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="50" nbEdgesVisu="196" length="980.0" radius='0.9'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0" radius='0.9'/>

<WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -44,8 +44,8 @@
<MechanicalObject template='Rigid3d' name='dofTopo2' />
</Node>
<Node name='topoLines_coils'>
<RodStraightSection name="StraightSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0" radius='0.1'/>
<RodSpireSection name="SpireSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0" radius='0.1'/>
<RodStraightSection name="StraightSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="360" length="540.0" radius='0.1'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0" radius='0.1'/>

<WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -67,14 +67,14 @@
/>
<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' ry='-90'/>

<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape' printLog='0'/>
<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter' massDensity='0.00000155'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape'/>
<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter'/>

<WireBeamInterpolation name='InterpolGuide' WireRestShape='@../topoLines_guide/GuideRestShape' printLog='0'/>
<AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide' massDensity='0.00000155'/>
<WireBeamInterpolation name='InterpolGuide' WireRestShape='@../topoLines_guide/GuideRestShape'/>
<AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide'/>

<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' printLog='0'/>
<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils' massDensity='0.000021'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape'/>
<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils'/>

<BeamAdapterActionController name="AController" interventionController="@IRController" writeMode="0"
timeSteps="9.1 17.1 17.55 18.05 18.6 19.05 19.55 20.05 20.5 21 21.45 21.9 22.65 23.1 23.55 24.05 24.55 25 25.45 25.95 26.4 27.1 27.55 28.05 28.55 29 29.5 29.95 30.4 30.9 31.4 31.85 32.35 33.05 33.5 34 34.45 34.9 35.4 35.85 36.35 36.8 37.25 37.7 38.2 38.65 39.4 39.85 40.3 40.7 41.2 41.65 42.1 42.55 43 43.4 44.1 44.55 45 45.45 45.9 46.3 46.75 47.2 47.65 48.1 48.55 49 49.65 50.1 50.5 50.9 51.35 51.75 52.2 52.6 53.05 53.5 53.95 54.4 54.85 55.5 55.9 59.1 66.15 66.6 67.05 67.45 67.9 68.35 68.8 69.25 69.65 70.1 70.55 71.2 71.6 72.05 72.5 72.95 73.4 77.6 81.9 87.4 87.75 88.1 88.45 88.75 89.1 89.45 89.75 90.1 90.6 90.9 91.25 91.6 91.95 92.3 92.6 92.95 93.25 93.6 93.95 94.25 94.6 94.95 95.4 95.75 96.1 96.4 96.75 97.05 97.35 97.7 98.05 98.4 98.7 99.15 99.5 99.8 100.15 100.45 100.75 101.1 101.4 101.75 102.05 102.55 102.85 103.2 103.5 103.8 104.1 104.4 104.75 105.05 105.4 105.7 106 106.45 106.75 107.1 107.4 107.7 108 108.35 108.65 108.95 109.25 109.55 110 110.3 110.6 110.9 111.2 111.45 111.75 112.05 112.35 112.65 113.1 113.35 113.65 113.95 114.2 114.5 114.8 115.1 115.35 115.65 116.1 116.35 125.8 128.2 131.6 131.8 132 132.25 132.45 132.65 132.85 133.05 133.3 133.5 133.8 134 134.2 134.4 134.6 134.8 135 135.2 135.4 135.6 135.8 136 136.3 136.5 136.75 136.95 137.15 137.35 137.5 137.7 137.9 138.15 138.3 138.6 138.85 139 139.2 139.4 139.6 139.8 140 140.15 140.35 140.55 140.75 140.95 141.25 141.45 141.65 141.85 142.05 142.25 142.45 142.65 142.85 143.05 143.25 143.45 143.65 143.85 144.15 144.3 144.5 144.7 144.9 145.1 145.3 145.45 145.65 145.95 146.1 146.3 146.5 146.7 146.9 147.1 147.25 147.45 147.65 147.85 148.05 148.25 148.4 148.7 148.9 149.1 149.25 149.45 149.65 149.85 150 150.2 150.35 150.55 150.75 150.9 151.05 151.3 151.45 151.6 151.8 151.95 152.1 152.25 152.4 152.65 152.8 153 153.15 153.3 153.45 153.6 153.75 153.9 154.1 154.25 154.4 154.6 154.75 154.9 155.1 155.25 155.4 155.55 155.7 155.85 156 156.15 156.4 156.55 156.7 156.85 157 157.15 157.3 157.45 157.6 157.75 157.9 158.05 159 160.9 163.4 163.55 163.7 163.85 164.1 164.25 164.4 164.55 164.75 164.9 165.05 165.2 165.35 165.5 165.65 165.8 165.95 166.15 166.35 166.5 166.7 166.85 167 167.15 167.3 167.45 167.65 167.8 167.95 168.1 168.25 168.45 168.6 168.8 169 169.15 169.3 169.45 169.6 169.8 169.95 170.1 170.25 170.4 170.55 170.7 170.95 171.1 171.25 171.4 171.55 171.75 171.9 172.05 172.2 172.45 172.6 172.75 172.9 173.1 173.25 185.8"
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24 changes: 12 additions & 12 deletions examples/3instruments_collis.scn
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Expand Up @@ -38,8 +38,8 @@
<!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) ------------------------------ -->

<Node name="topoLines_cath">
<RodStraightSection name="StraightSection" youngModulus="10000" radius="1" nbEdgesCollis="40" nbEdgesVisu="220" length="600.0"/>
<RodSpireSection name="SpireSection" youngModulus="10000" radius="1" nbEdgesCollis="10" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbEdgesCollis="40" nbEdgesVisu="220" length="600.0"/><!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbEdgesCollis="10" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/> <!-- silicone -->

Expand All @@ -49,8 +49,8 @@
<MechanicalObject template="Rigid3d" name="dofTopo1" />
</Node>
<Node name="topoLines_guide">
<RodStraightSection name="StraightSection" youngModulus="10000" radius="0.9" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="10000" radius="0.9" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -60,8 +60,8 @@
<MechanicalObject template="Rigid3d" name="dofTopo2" />
</Node>
<Node name="topoLines_coils">
<RodStraightSection name="StraightSection" youngModulus="168000" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/>
<RodSpireSection name="SpireSection" youngModulus="168000" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>
<RodStraightSection name="StraightSection" youngModulus="168000" massDensity="0.000021" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="168000" massDensity="0.000021" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>

<WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -83,14 +83,14 @@
/>
<MechanicalObject template="Rigid3d" name="DOFs" showIndices="0" ry="-90"/>

<WireBeamInterpolation name="InterpolCatheter" WireRestShape="@../topoLines_cath/catheterRestShape" printLog="0"/>
<AdaptiveBeamForceFieldAndMass name="CatheterForceField" interpolation="@InterpolCatheter" massDensity="0.00000155"/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<WireBeamInterpolation name="InterpolCatheter" WireRestShape="@../topoLines_cath/catheterRestShape"/>
<AdaptiveBeamForceFieldAndMass name="CatheterForceField" interpolation="@InterpolCatheter" />

<WireBeamInterpolation name="InterpolGuide" WireRestShape="@../topoLines_guide/GuideRestShape" printLog="0"/>
<AdaptiveBeamForceFieldAndMass name="GuideForceField" interpolation="@InterpolGuide" massDensity="0.00000155"/>
<WireBeamInterpolation name="InterpolGuide" WireRestShape="@../topoLines_guide/GuideRestShape"/>
<AdaptiveBeamForceFieldAndMass name="GuideForceField" interpolation="@InterpolGuide"/>

<WireBeamInterpolation name="InterpolCoils" WireRestShape="@../topoLines_coils/CoilRestShape" printLog="0"/>
<AdaptiveBeamForceFieldAndMass name="CoilsForceField" interpolation="@InterpolCoils" massDensity="0.000021"/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<WireBeamInterpolation name="InterpolCoils" WireRestShape="@../topoLines_coils/CoilRestShape"/>
<AdaptiveBeamForceFieldAndMass name="CoilsForceField" interpolation="@InterpolCoils"/>

<BeamAdapterActionController name="AController" interventionController="@IRController" writeMode="0"
timeSteps="4.3 7.5 7.65 7.85 8.05 8.25 8.45 8.7 8.9 9.2 9.4 9.6 9.8 10 10.25 10.4 10.65 10.85 11.05 11.25 11.45 11.7 11.95 12.2 12.4 12.6 12.8 13 13.2 13.4 13.6 13.85 14.05 14.35 14.55 14.75 14.95 15.15 15.35 15.5 15.7 15.85 16.1 16.25 16.4 16.55 16.7 16.85 17 17.2 17.35 17.55 17.7 17.85 17.95 18.1 18.25 18.35 18.5 18.65 18.85 19 19.2 19.35 19.45 19.6 19.75 19.95 20.1 20.25 20.4 20.55 20.7 20.85 21.35 22.35 23.05 23.65 25 25.1 25.2 25.35 25.5 25.65 25.8 29 30.5 31.9 33.85 33.95 34.1 34.2 34.3 34.45 34.55 34.65 34.8 34.95 35.05 35.15 35.3 35.4 35.5 35.6 35.7 35.8 35.95 36.1 36.2 36.3 36.45 36.5 36.65 36.75 36.9 37 37.1 37.2 37.3 37.45 37.55 37.65 37.75 37.85 38 38.1 38.2 38.3 38.45 38.55 38.65 38.8 38.9 39.05 39.15 39.3 39.4 39.55 39.65 39.7 39.85 39.9 40.1 40.2 40.3 40.4 40.55 40.65 40.8 40.9 41.05 41.15 41.3 41.4 41.6 41.7 41.8 41.95 42 42.1 42.2 42.35 42.45 42.6 42.65 42.8 42.95 43.05 43.2 43.3 43.45 43.55 43.65 43.8 43.9 44 44.15 44.25 44.4 44.55 45.5 47.35 47.45 47.55 47.65 47.7 47.8 47.9 48 50.4 52.35 52.45 52.55 52.65 52.75 52.9 53 53.1 53.2 53.3 53.4 54.35 56.05 56.15 56.2 56.3 56.4 56.5 56.6 56.65 56.7 57.95 58.6 59.45 59.55 59.6 59.7 59.8 59.9 59.95 60.05 60.1 60.15 60.25 60.3 60.4 60.5 60.6 60.65 60.75 60.85 60.95 61 61.1 61.15 61.2 61.3 61.4 61.5 61.65 61.75 61.85 62 62.15 62.25 62.35 62.45 62.55 62.65 62.75 62.85 62.9 63 63.05 63.15 63.2 63.25 63.35 63.4 63.5 63.6 63.7 63.75 63.85 63.95 64.05 64.2 64.3 64.35 64.45 64.55 64.6 64.7 64.8 64.9 65 65.1 65.2 65.3 65.45 65.55 65.65 65.75 65.8 65.9 72.15 73.6 73.7 73.8 73.85 73.95 74 74.1 74.25 74.35 74.45 74.55 75.4 76.1 76.7 77.65 79.85 82 82.85 84.25 84.35 84.45 84.55 84.65 84.75 84.8 84.9 84.95 85.1 85.2 85.3 85.4 85.5 85.6 85.7 85.8 85.9 86 86.1 86.2 86.3 86.4 86.45 86.55 86.65 86.75 86.8 86.9 87 87.15 87.25 87.3 87.4 87.5 87.6 87.7 87.75 87.85 87.95 88 88.1 88.25 88.35 88.45 88.55 88.65 88.75 88.85 88.95 89.05 89.15 89.25 89.35 89.5 89.6 89.75 89.85 89.95 90.05 90.15 90.75 92.4 92.5 92.6 92.7 94.45 97.25 98.1 99.3 99.4 99.5 99.55 99.65 99.7 99.8 99.85 99.95 100.05 100.15 100.2 100.3 100.35 100.45 100.5 100.55 100.65 100.7 100.8 100.85 100.95 101.05 101.15 101.2 101.25 101.35 101.4 101.5 101.55 101.65 101.7 101.75 101.85 101.9 102 102.05 102.15 102.2 102.3 102.35 102.45 102.5 102.6 102.65 102.7 102.8 102.85 102.95 103.05 103.1 103.2 103.25 103.35 103.4 103.5 103.55 103.65 103.7 103.75 103.85 103.95 104.05 104.1 104.2 104.25 104.3 104.4 104.45 104.55 104.6 104.7 104.75 104.85 104.95 105 105.1 105.15 105.25 105.3 105.4 105.45 105.55 105.6 105.65 105.75 105.85 105.95 106 106.05 106.15 106.2 106.3 106.35 106.45 106.5 106.6 106.65 106.75 106.85 106.9 107 107.05 107.15 107.2 107.3 107.35 107.45 107.5 107.6 107.7 107.75 107.85 107.9 107.95 108.05 108.1 108.2 108.25 108.3 108.4 108.45 108.55 108.65 108.7 108.8 108.85 108.95 109 109.1 109.15 109.25 109.3 109.35 109.45 109.55 109.65 109.7 109.8 109.85 109.9 110 110.05 110.15 110.2 110.3 110.35 110.45 110.55 110.6 110.7 110.75 110.8 110.9 110.95 111.05 111.1 111.2 111.25 111.35 111.45 111.5 111.6 111.65 111.75 111.8 111.9 111.95 112.05 112.1 112.2 112.25 112.35 112.4 112.5 112.55 112.65 112.7 112.75 112.85 112.9 113 113.1 113.15 113.2 113.3 113.4 113.45 113.55 113.6 113.65 113.75 113.8 113.9 113.95 114 114.1 114.2 114.25 114.35 114.4 114.5 114.6 114.65 114.75 114.85 114.9 114.95 115.05 115.1 115.2 115.3 115.35 115.4 115.5 115.6 115.65 115.75 115.8 115.9 116 116.05 116.1 116.2 116.3 116.4 116.5 116.55 116.6 116.7 116.8 116.85 116.95 117.05 117.1 117.15 117.25 117.35 117.45 117.5 117.6 117.65 117.75 117.85 117.9 117.95 118.05 118.15 118.25 118.35 118.4 118.5 122.65"
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6 changes: 3 additions & 3 deletions examples/SingleBeamDeployment.scn
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Expand Up @@ -15,8 +15,8 @@
<DefaultVisualManagerLoop />

<Node name="EdgeTopology">
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" nbEdgesCollis="30" nbEdgesVisu="196" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" nbEdgesCollis="5" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" nbEdgesCollis="30" nbEdgesVisu="196" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" nbEdgesCollis="5" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="BeamRestShape" printLog="1" wireMaterials="@StraightSection @SpireSection"/>
<EdgeSetTopologyContainer name="meshLinesBeam"/>
Expand All @@ -34,7 +34,7 @@
<MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" />

<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" />
<AdaptiveBeamForceFieldAndMass name="BeamForceField" massDensity="0.00000155" interpolation="@BeamInterpolation"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" interpolation="@BeamInterpolation"/>
<InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
startingPos="0 0 0 0 0 0 1" xtip="0 0 0" printLog="1"
rotationInstrument="0 0 0" step="0.5" speed="0.5"
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6 changes: 3 additions & 3 deletions examples/SingleBeamDeploymentCollision.scn
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Expand Up @@ -32,8 +32,8 @@


<Node name="EdgeTopology">
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="50" nbEdgesVisu="200" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="10" nbEdgesVisu="200" length="20.0" spireDiameter="25" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" poissonRatio="0.3" nbEdgesCollis="50" nbEdgesVisu="200" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" poissonRatio="0.3" nbEdgesCollis="10" nbEdgesVisu="200" length="20.0" spireDiameter="25" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="BeamRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -52,7 +52,7 @@
<MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" />

<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" massDensity="0.00000155" interpolation="@BeamInterpolation"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" interpolation="@BeamInterpolation"/>
<InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
startingPos="0 0 0 0 0 0 1" xtip="0 0 0" printLog="1"
rotationInstrument="0 0 0" step="5" speed="5"
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