This directory contains a number of examples of elastica. Each example cases are stored in separate subdirectories, containing case descriptions, run file, and all other data/script necessary to run. More advanced cases are stored in separate repository with its description.
Some examples provide additional files or links to published paper for a complete description. Examples can serve as a starting template for customized usages.
- AxialStretchingCase
- Purpose: Physical convergence test of simple stretching rod.
- Features: CosseratRod, OneEndFixedRod, EndpointForces
- TimoshenkoBeamCase
- Purpose: Physical convergence test of simple Timoshenko beam.
- Features: CosseratRod, OneEndFixedRod, EndpointForces
- FlexibleSwingingPendulumCase
- Purpose: Physical convergence test of simple pendulum with flexible rod.
- Features: CosseratRod, HingeBC, GravityForces
- ContinuumSnakeCase
- Purpose: Demonstrate simple case of modeling biological creature using PyElastica. The example uses friction to create slithering snake, and optimize the speed using CMA.
- Features: CosseratRod, MuscleTorques, RodPlaneContactWithAnisotropicFriction, Gravity, CMA Optimization
- ContinuumSnakeWithLiftingWaveCase
- Purpose: Demonstrate simple case of modeling biological creature using PyElastica. The example uses friction to create slithering snake with lift.
- Features: CosseratRod, MuscleTorquesLifting(custom implemented), SnakeRodPlaneContact(custom implemented), Gravity
- MuscularSnake
- Purpose: Example of Parallel connection module and customized Force module to implement muscular snake.
- Features: MuscleForces(custom implemented)
- ButterflyCase
- Purpose: Demonstrate simple restoration with initial strain.
- Features: CosseratRod
- CantileverDistributedLoad
- Purpose: Demonstrate the deformation of a straight cantilever under both conservative (like water pressure) and non-conservative (like gravity) distributed load, compared with numerical solutions from Tschisgale, Silvio (2019)."Chapter 3: Numerical models of partitioned problems" Technische Univerisitat Dresden Institution of Fluid Mechanics
- Features: CosseratRod
- CantileverTransversalLoadCase
- Purpose: Demonstrate the deformation of a curved cantilever under transversal one-end load, and also do Physical convergence test, compared with numerical solutions from Tschisgale, Silvio (2019).
- Features: CosseratRod
- TumblingUnconstrainedRod
- Purpose: Demonstrate the dynamics of tumbling unconstrained rod, compared with analytical solution from Hisao, Kou Hou (1998)., Computer methods in applied mechanics and engineering.
- Features: CosseratRod
- FrictionValidationCases
- Purpose: Physical validation of rolling and translational friction.
- Features: CosseratRod, UniformForces, RodPlaneContactWithAnisotropicFriction
- JointCases
- Purpose: Demonstrate various joint usage with Cosserat Rod.
- Features: FreeJoint, FixedJoint, HingeJoint, OneEndFixedRod, EndpointForcesSinusoidal
- RigidBodyCases
- Purpose: Demonstrate usage of rigid body on simulation.
- Features: Cylinder, Sphere
- RodRigidBodyContact
- Purpose: Demonstrate contact between cylinder and rod, for different intial conditions.
- Features: Cylinder, CosseratRods, RodCylinderContact
- HelicalBucklingCase
- Purpose: Demonstrate helical buckling with extreme twisting boundary condition.
- Features: HelicalBucklingBC
- ContinuumFlagellaCase
- Purpose: Demonstrate flagella modeling using PyElastica.
- Features: SlenderBodyTheory, MuscleTorques,
- MuscularFlagella
- Purpose: Example of customizing Joint module and Force module to implement muscular flagella.
- Features: MuscleForces(custom implemented)
- RodContactCase
- RodRodContact
- Purpose: Demonstrates contact between two rods, for different initial conditions.
- Features: CosseratRod, RodRodContact
- RodSelfContact
- PlectonemesCase
- Purpose: Demonstrates rod self contact with Plectoneme example, and how to use link-writhe-twist after simulation completed.
- Features: CosseratRod, SolenoidsBC, RodSelfContact, Link-Writhe-Twist
- SolenoidsCase
- Purpose: Demonstrates rod self contact with Solenoid example, and how to use link-writhe-twist after simulation completed.
- Features: CosseratRod, SolenoidsBC, RodSelfContact, Link-Writhe-Twist
- PlectonemesCase
- RodRodContact
- BoundaryConditionsCases
- Purpose: Demonstrate the usage of boundary conditions for constraining the movement of the system.
- Features: GeneralConstraint, CosseratRod
- DynamicCantileverCase
- Purpose: Validation of dynamic cantilever vibration for multiple modes.
- Features: CosseratRod, OneEndFixedRod
- RingRodCase
- Purpose: Demonstrate simulation of ring rod.
- Features: RingCosseratRod, OneEndFixedRod, GravityForce
- CatenaryCase
- Purpose: Demonstrate simulation of cosserat rod under gravity with fixed ends, compared with Catenary Analytical Solution from Routh, Edward John (1891). "Chapter X: On Strings". A Treatise on Analytical Statics. University Press.
- Features: CosseratRod, FixedConstraint, GravityForce
- KnotCase
- Purpose: Demonstrate simulation of rod forming a knot using a tip-pose control.
- Features: CosseratRod, KnotTheory, FixedConstraint, RodSelfContact, Custom p-controller for SO3.
- RestartExample
- Purpose: Demonstrate the usage of restart module.
- Features: save_state, load_state
- Elastica RL control - Case presented in Elastica: A compliant mechanics environment for soft robotic control
- Gym Softrobot - Soft-robot control environment developed in OpenAI-gym format to study slender body control with reinforcement learning.
- ParallelConnectionExample
- Purpose: Demonstrate the usage of parallel connection.
- Features: connect two parallel rods
- GenericSystemConnectionCases
- Purpose: Demonstrate the usage of generic system type connections for connecting different system types (rods and rigid bodies).
- Features: GenericSystemTypeFixedJoint, GenericSystemTypeFreeJoint, CosseratRod, Cylinder