diff --git a/SofaStateSpaceExtraction b/SofaStateSpaceExtraction
new file mode 160000
index 0000000000000000000000000000000000000000..817048ea7d0949633c1c161e5e727c2cef53c95a
--- /dev/null
+++ b/SofaStateSpaceExtraction
@@ -0,0 +1 @@
+Subproject commit 817048ea7d0949633c1c161e5e727c2cef53c95a
diff --git a/__pycache__/Stiff_Function.cpython-310.pyc b/__pycache__/Stiff_Function.cpython-310.pyc
index 5bc4cf53ebfdf0166674049cdf4598db125d8ffc..e907fc04d2e9ae95711550f892ee331dec9a4438 100644
Binary files a/__pycache__/Stiff_Function.cpython-310.pyc and b/__pycache__/Stiff_Function.cpython-310.pyc differ
diff --git a/__pycache__/stiff_module.cpython-310.pyc b/__pycache__/stiff_module.cpython-310.pyc
index e5f55f70f85cda3ebc84f77626dfc98e4fb3d5fc..92ea0b82cdff087828aeaee26cb90b4b82885c7c 100644
Binary files a/__pycache__/stiff_module.cpython-310.pyc and b/__pycache__/stiff_module.cpython-310.pyc differ
diff --git a/polhemus_liberty b/polhemus_liberty
index f7a9b2e5d364a1065a9489bce9928be1c9794ab0..c5cfc588d1f6bf63b0cd2efcc0ab0506f8c18596 160000
--- a/polhemus_liberty
+++ b/polhemus_liberty
@@ -1 +1 @@
-Subproject commit f7a9b2e5d364a1065a9489bce9928be1c9794ab0
+Subproject commit c5cfc588d1f6bf63b0cd2efcc0ab0506f8c18596
diff --git a/stiff_module.py b/stiff_module.py
index 269e8a2752b26fef3fb1c67927ca8e7911b1d1c7..12c4dfe178d50851e83f2c89603e94e985e623ef 100644
--- a/stiff_module.py
+++ b/stiff_module.py
@@ -95,8 +95,8 @@ max_pression = 200 # Maximal pressure in kPa
min_pression = 0
init_pressure_value = 0
# value_type = "1" # pour commande en volume (avec beam6)
-value_type = "pressure" # pour commande en pression (avec beam5)
-# value_type = "volumeGrowth" # pour commande en pression (avec beam5)
+# value_type = "pressure" # pour commande en pression (avec beam5)
+value_type = "volumeGrowth" # pour commande en pression (avec beam5)
if dynamic == 1 :
pas = pas*dt
@@ -471,8 +471,8 @@ def MyScene(rootNode, out_flag,step,YM_soft_part,coef_poi,act_flag,data_exp):
if nb_module == 1 :
rootNode.addObject(controller.StiffController(pas=pas,module = stiff,parent = stiff_flop))
elif nb_module == 2 :
- rootNode.addObject(controller.StiffController(pas=pas,module = stiff,parent = stiff_flop,node2 = stiff_2))
- # rootNode.addObject(controller.FixPressure(pas=pas,module = stiff,parent = stiff_flop,node2 = stiff_2))
+ # rootNode.addObject(controller.StiffController(pas=pas,module = stiff,parent = stiff_flop,node2 = stiff_2))
+ rootNode.addObject(controller.FixPressure(pas=pas,module = stiff,parent = stiff_flop,node2 = stiff_2))
# FixPressure
#rootNode.addObject(AuroraTracking(child_name = 'MeasuredPosition',name = 'MeasuredPositionM0',module =stiff,RootNode=rootNode))
diff --git a/stiff_module.py.log b/stiff_module.py.log
index 471609ae893b8fa0ca960e5bb041c5af0ae0aca6..cb9bcfc28fa3780b104693cef5c78e7db5b66f10 100644
--- a/stiff_module.py.log
+++ b/stiff_module.py.log
@@ -195,3 +195,21 @@
/RigidFrames/DOFs.showColor = 1 1 1 1
/RigidFrames/DOFs.constraint_dx(V_DERIV) = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
/RigidFrames/DOFs.lambda(V_DERIV) = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+--- NEW SESSION: 27/11/2023 11:42:48 ---
+/RigidFrames/DOFs.velocity = 5.8358e-24 -1.12879e-24 -5.97565e-24 -4.50489e-14 2.85608e-10 -2.80694e-10 9.83771e-12 -9.70397e-10 -9.87376e-10 -2.81967e-14 2.77833e-10 -2.7306e-10 3.85429e-11 -1.9149e-09 -1.94838e-09 -1.2709e-14 2.7063e-10 -2.65988e-10 8.52246e-11 -2.83524e-09 -2.88478e-09 1.2584e-15 2.63966e-10 -2.59446e-10 1.49124e-10 -3.73304e-09 -3.79823e-09 1.3761e-14 2.5781e-10 -2.53405e-10 2.29634e-10 -4.60987e-09 -4.6903e-09 2.50736e-14 2.52135e-10 -2.47836e-10 3.26179e-10 -5.46716e-09 -5.56247e-09 3.4988e-14 2.46913e-10 -2.42713e-10 4.38352e-10 -6.30627e-09 -6.41611e-09 4.35799e-14 2.42118e-10 -2.38011e-10 5.65855e-10 -7.1285e-09 -7.25253e-09 5.04437e-14 2.37728e-10 -2.33706e-10 7.08416e-10 -7.93501e-09 -8.07294e-09 5.63881e-14 2.33717e-10 -2.29776e-10 8.65819e-10 -8.72693e-09 -8.87846e-09 6.06292e-14 2.30067e-10 -2.26198e-10 1.03806e-09 -9.50529e-09 -9.67015e-09 6.45479e-14 2.26755e-10 -2.22954e-10 1.22503e-09 -1.0271e-08 -1.0449e-08 6.63517e-14 2.23762e-10 -2.20022e-10 1.42678e-09 -1.10251e-08 -1.12159e-08 6.54876e-14 2.21069e-10 -2.17385e-10 1.64333e-09 -1.17682e-08 -1.19716e-08 6.38489e-14 2.18659e-10 -2.15024e-10 1.87484e-09 -1.25011e-08 -1.2717e-08 5.94765e-14 2.16514e-10 -2.12924e-10 2.12141e-09 -1.32245e-08 -1.34527e-08 5.41798e-14 2.14617e-10 -2.11067e-10 2.37545e-09 -1.39445e-08 -1.41849e-08 -2.13031e-14 2.11838e-10 -2.08354e-10 2.62604e-09 -1.46558e-08 -1.49084e-08 -9.36252e-14 2.09404e-10 -2.05978e-10 2.87415e-09 -1.53596e-08 -1.56241e-08 -1.66229e-13 2.07288e-10 -2.03915e-10 3.1203e-09 -1.60568e-08 -1.63331e-08 -2.36679e-13 2.05467e-10 -2.02141e-10 3.36531e-09 -1.67483e-08 -1.70362e-08 -3.05115e-13 2.03916e-10 -2.00637e-10 3.60962e-09 -1.74349e-08 -1.77344e-08 -3.71455e-13 2.02614e-10 -1.99376e-10 3.85381e-09 -1.81173e-08 -1.84284e-08 -4.34688e-13 2.01539e-10 -1.98335e-10 4.09854e-09 -1.87963e-08 -1.91188e-08 -4.96277e-13 2.00666e-10 -1.97493e-10 4.34423e-09 -1.94725e-08 -1.98063e-08 -5.53982e-13 1.99976e-10 -1.96826e-10 4.59098e-09 -2.01463e-08 -2.04914e-08 -6.12079e-13 1.99446e-10 -1.96315e-10 4.83949e-09 -2.08183e-08 -2.11747e-08 -6.661e-13 1.99054e-10 -1.95941e-10 5.08985e-09 -2.14888e-08 -2.18564e-08 -7.19362e-13 1.9878e-10 -1.9568e-10 5.34257e-09 -2.21582e-08 -2.2537e-08 -7.70251e-13 1.98602e-10 -1.95515e-10 5.5975e-09 -2.28267e-08 -2.32167e-08 -8.20452e-13 1.985e-10 -1.95422e-10 5.85507e-09 -2.34945e-08 -2.38957e-08 -8.66612e-13 1.98451e-10 -1.95381e-10 6.11529e-09 -2.41618e-08 -2.45742e-08 -9.14779e-13 1.98438e-10 -1.95374e-10
+/RigidFrames/DOFs.derivX = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+/RigidFrames/DOFs.force = 256.487 1.29507 1.28267 0.142544 -327.736 330.907 -0.0519178 2.59251 2.56771 0.0306542 -0.0303394 0.0287597 -0.10424 2.59947 2.57468 0.0309992 -0.0582996 0.0565681 -0.15735 2.61072 2.58591 0.03138 -0.0845277 0.0826446 -0.211603 2.62595 2.6011 0.0317931 -0.109056 0.107023 -0.267327 2.64481 2.6199 0.0322349 -0.131906 0.129727 -0.324825 2.66695 2.64198 0.032702 -0.153094 0.150773 -0.384377 2.69205 2.667 0.0331907 -0.172626 0.170169 -0.446233 2.71973 2.6946 0.0336974 -0.190501 0.187914 -0.510623 2.74964 2.72442 0.0342182 -0.206712 0.204004 -0.577745 2.78142 2.75612 0.0347495 -0.221245 0.218423 -0.647774 2.81468 2.78931 0.0352873 -0.234082 0.231154 -0.72085 2.84904 2.82361 0.0358277 -0.245197 0.242171 -0.797087 2.8841 2.85863 0.0363665 -0.254564 0.251447 -0.876559 2.91948 2.89398 0.0368996 -0.262149 0.258948 -0.959309 2.95475 2.92925 0.0374229 -0.267918 0.264637 -39.7938 -5.58215 -5.3364 5.78919 383.412 -421.325 0.0185585 -0.248083 0.14189 -0.0734167 -0.349937 0.321719 -0.00188941 -0.190955 0.199399 -0.0637725 -0.327833 0.300063 -0.0210049 -0.137923 0.253356 -0.0548689 -0.306148 0.278939 -0.0388925 -0.0888865 0.303778 -0.0466843 -0.284742 0.258234 -0.0556309 -0.0437667 0.350665 -0.0392 -0.263486 0.237839 -0.0712743 -0.00250004 0.393997 -0.0324 -0.242261 0.217656 -0.0858548 0.034961 0.433742 -0.0262709 -0.220961 0.197592 -0.0993841 0.0686498 0.469851 -0.0208016 -0.199485 0.177563 -0.111855 0.0985872 0.502263 -0.0159831 -0.177747 0.157493 -0.123243 0.124783 0.530906 -0.0118081 -0.155666 0.137312 -0.133508 0.147236 0.555697 -0.00827098 -0.133175 0.116959 -0.142595 0.165938 0.576543 -0.0053674 -0.110213 0.0963798 -0.150438 0.180874 0.593346 -0.00309416 -0.0867314 0.0755296 -0.156957 0.192022 0.606 -0.00144895 -0.0626906 0.0543707 -0.162066 0.199357 0.614396 -0.000430137 -0.0380611 0.0328739 -208.319 -37.3185 -43.2003 -6.05332 57.402 -20.5001
+/RigidFrames/DOFs.dforce(V_DERIV) = 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+/RigidFrames/DOFs.free_velocity = -5.90823e-14 8.24485e-13 8.39593e-13 9.22179e-14 1.83698e-10 -1.81191e-10 -0.187965 -0.0532895 -0.0529871 -1.04196e-05 0.0306306 -0.030795 -0.371647 -0.214461 -0.213278 -2.41855e-05 0.061355 -0.0616814 -0.546724 -0.483744 -0.481116 -4.13825e-05 0.0921786 -0.0926646 -0.70882 -0.861324 -0.856696 -6.21074e-05 0.123107 -0.12375 -0.853495 -1.34734 -1.34017 -8.64683e-05 0.154145 -0.154941 -0.976228 -1.94186 -1.93164 -0.000114585 0.185297 -0.186245 -1.07241 -2.64493 -2.63114 -0.000146589 0.21657 -0.217666 -1.13731 -3.45651 -3.43867 -0.000182622 0.247969 -0.249209 -1.16612 -4.3765 -4.35414 -0.000222837 0.279497 -0.280878 -1.15388 -5.40471 -5.37739 -0.000267398 0.311161 -0.312679 -1.09552 -6.5409 -6.50821 -0.00031648 0.342965 -0.344617 -0.985828 -7.78472 -7.74628 -0.000370269 0.374914 -0.376696 -0.81946 -9.13574 -9.09119 -0.000428959 0.407014 -0.408922 -0.590937 -10.5934 -10.5425 -0.000492755 0.43927 -0.441298 -0.294642 -12.1572 -12.0994 -0.000561873 0.471686 -0.473831 0.07518 -13.8261 -13.7615 -0.000636536 0.504267 -0.506524 0.411457 -15.5617 -15.4983 -0.00102501 0.510104 -0.507572 0.750983 -17.3007 -17.2554 -0.00139978 0.516103 -0.50878 1.09493 -19.0435 -19.0333 -0.00176252 0.522259 -0.51014 1.4444 -20.7906 -20.8323 -0.00211477 0.528564 -0.511645 1.80046 -22.5423 -22.6529 -0.00245794 0.535011 -0.513287 2.16412 -24.2991 -24.4954 -0.00279333 0.541591 -0.515058 2.53634 -26.0611 -26.3601 -0.00312214 0.548297 -0.516948 2.91801 -27.8288 -28.2474 -0.00344544 0.55512 -0.518949 3.30997 -29.6025 -30.1576 -0.00376424 0.562051 -0.521051 3.71303 -31.3823 -32.0908 -0.00407943 0.569079 -0.523244 4.12788 -33.1684 -34.0474 -0.00439183 0.576195 -0.525517 4.5552 -34.9612 -36.0275 -0.00470216 0.583387 -0.52786 4.99556 -36.7606 -38.0312 -0.0050111 0.590643 -0.530262 5.44948 -38.5669 -40.0586 -0.0053192 0.597952 -0.53271 5.91739 -40.38 -42.11 -0.00562699 0.6053 -0.535192 6.39964 -42.2001 -44.1852 -0.00593488 0.612674 -0.537695
+/RigidFrames/DOFs.constraint = Constraint ID : 0 dof ID : 0 value : -3.37483 -0.0170404 -0.0168772 0.0571186 -11.72 0.0295258 dof ID : 1 value : 0.000683129 -0.0341119 -0.0337857 0.11817 0.00156675 0.000696459 dof ID : 2 value : 0.00137158 -0.0342035 -0.0338773 0.118485 0.00314015 0.00150124 dof ID : 3 value : 0.0020704 -0.0343516 -0.0340252 0.118998 0.0047086 0.00234683 dof ID : 4 value : 0.00278425 -0.034552 -0.034225 0.119692 0.00628072 0.00324087 dof ID : 5 value : 0.00351746 -0.0348001 -0.0344724 0.120552 0.00786442 0.00419053 dof ID : 6 value : 0.00427402 -0.0350915 -0.0347629 0.121563 0.00946687 0.00520251 dof ID : 7 value : 0.00505759 -0.0354217 -0.0350921 0.122709 0.0110946 0.00628306 dof ID : 8 value : 0.00587149 -0.0357859 -0.0354552 0.123973 0.0127534 0.00743794 dof ID : 9 value : 0.00671872 -0.0361795 -0.0358477 0.125341 0.0144484 0.00867246 dof ID : 10 value : 0.00760191 -0.0365976 -0.0362647 0.126794 0.016184 0.00999137 dof ID : 11 value : 0.00852334 -0.0370352 -0.0367014 0.128315 0.017964 0.0113989 dof ID : 12 value : 0.00948487 -0.0374873 -0.0371527 0.129888 0.0197913 0.0128986 dof ID : 13 value : 0.010488 -0.0379487 -0.0376136 0.131494 0.021668 0.0144936 dof ID : 14 value : 0.0115337 -0.0384142 -0.0380787 0.133115 0.0235956 0.0161859 dof ID : 15 value : 0.0126225 -0.0388782 -0.0385428 0.134732 0.0255743 0.0179771 dof ID : 16 value : 3.28223 0.557899 0.552775 -1.93094 11.5658 -0.194258
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