├── .github └── workflows │ └── ci.yml ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── ModelOrderReductionConfig.cmake.in ├── ModelOrderReduction_test ├── CMakeLists.txt └── ModelOrderReduction_test.cpp ├── README.md ├── cmake ├── environment.cmake └── packaging.cmake ├── doc ├── ModelOrderReduction.pdf └── sphinx │ ├── .readthedocs.yaml │ ├── Makefile │ ├── make.bat │ └── source │ ├── _templates │ ├── custom-class-template.rst │ └── custom-module-template.rst │ ├── components.rst │ ├── conf.py │ ├── index.rst │ ├── references.bib │ ├── requirements.txt │ ├── tools.rst │ └── usage │ ├── examples │ ├── Diamond │ │ ├── DiamondRobot_QuiteFIne.png │ │ ├── DiamondRobot_Reduced.png │ │ ├── DiamondRobot_modes_5367x1342.png │ │ ├── diamond-different-meshes.png │ │ ├── diamond.md │ │ └── diamondReal.png │ ├── HexaBeam │ │ ├── hexaBeam.md │ │ ├── hexaBeam_test_with_boxROI_original.png │ │ ├── original_versus_reudced.png │ │ └── reduced_test_with_boxROI.png │ ├── Liver │ │ ├── fullModel.png │ │ ├── full_versus_reduced_gravity.png │ │ ├── full_versus_reduced_rotation.png │ │ ├── liver.md │ │ ├── reducedModel_gravity.png │ │ └── reducedModel_rotation.png │ ├── Sofia │ │ ├── reduction_coarseMesh.png │ │ ├── reduction_fineMesh.png │ │ ├── sofia.md │ │ └── sofia_robot.jpeg │ ├── Starfish │ │ ├── SartfishRobot_modes.png │ │ ├── Starfish_Fine.png │ │ ├── Starfish_Real.png │ │ ├── Starfish_Reduced.png │ │ ├── starfish-different-meshes.png │ │ └── starfish.md │ └── examples.rst │ ├── howToUse │ ├── howToReduce_gui.md │ ├── howToReduce_script.md │ ├── howToUse.rst │ └── noteBook.md │ ├── images │ └── MOR_plugin_execution_v2.png │ ├── install │ ├── install.rst │ ├── installation.md │ └── requirement.md │ └── principle │ ├── principle.rst │ └── reductionPrinciple.md ├── examples ├── .scene-tests ├── bouncingBall │ ├── RID.txt │ ├── modes.txt │ ├── softSphereFalling.py │ ├── softSphereFalling_reduced.py │ ├── sphere.stl │ ├── sphere.vtk │ └── weights.txt ├── organs │ └── liver │ │ ├── controller │ │ └── washingMachineController.py │ │ ├── liverFineHyperElastic.pyscn │ │ ├── liverFine_gravity.py │ │ ├── liverFine_rotationalActuation.py │ │ ├── mesh │ │ ├── liver-smoothUV.obj │ │ └── liverFine.vtu │ │ └── reduced │ │ ├── liver │ │ ├── data │ │ │ ├── modes.txt │ │ │ ├── reducedFF_liver_0_RID.txt │ │ │ ├── reducedFF_liver_0_weight.txt │ │ │ ├── reducedFF_liver_1_RID.txt │ │ │ ├── reducedFF_liver_1_weight.txt │ │ │ ├── reducedFF_liver_2_RID.txt │ │ │ └── reducedFF_liver_2_weight.txt │ │ └── reduced_liverFine.py │ │ └── liver_hyperElastic │ │ ├── data │ │ ├── modes.txt │ │ ├── reducedFF_liver_0_RID.txt │ │ ├── reducedFF_liver_0_weight.txt │ │ ├── reducedFF_liver_1_RID.txt │ │ ├── reducedFF_liver_1_weight.txt │ │ ├── reducedFF_liver_2_RID.txt │ │ └── reducedFF_liver_2_weight.txt │ │ └── reduced_liverFineHyperElastic.py ├── others │ ├── SphereOnAPlane │ │ ├── softSphereFalling.pyscn │ │ ├── sphere.brep │ │ ├── sphere.stl │ │ ├── sphere.vtk │ │ └── sphereFine.stl │ ├── caduceus │ │ ├── caduceusNG.pyscn │ │ ├── mesh │ │ │ ├── meca_snake_900tri.obj │ │ │ ├── snake0.vtu │ │ │ ├── snake_body.obj │ │ │ ├── snake_cornea.obj │ │ │ └── snake_yellowEye.obj │ │ └── reduced │ │ │ ├── data │ │ │ ├── modes.txt │ │ │ ├── reducedFF_Snake_0_RID.txt │ │ │ └── reducedFF_Snake_0_weight.txt │ │ │ ├── debug │ │ │ ├── debug_scene.py │ │ │ ├── stateFile.state │ │ │ └── step2_stateFile.state │ │ │ └── reduced_caduceusNG.py │ └── hexaBeam │ │ ├── hexaBeam.pyscn │ │ └── reduced │ │ ├── data │ │ ├── modes.txt │ │ ├── reducedFF_M1_0_RID.txt │ │ ├── reducedFF_M1_0_weight.txt │ │ ├── reducedFF_M1_1_RID.txt │ │ └── reducedFF_M1_1_weight.txt │ │ ├── debug │ │ ├── debug_scene.py │ │ ├── stateFile.state │ │ └── step2_stateFile.state │ │ └── reduced_hexaBeam.py └── softRobots │ ├── diamond │ ├── diamondRobot.py │ ├── diamondRobotHyperElastic.py │ ├── mesh │ │ ├── diamond_34k_tet.vtu │ │ ├── diamond_4k_tet.vtu │ │ ├── diamond_70k_tet.vtu │ │ └── surface.stl │ └── reduced │ │ ├── diamond │ │ ├── data │ │ │ ├── modes.txt │ │ │ ├── reducedFF_FixedBox_1_RID.txt │ │ │ ├── reducedFF_FixedBox_1_weight.txt │ │ │ ├── reducedFF_modelNode_0_RID.txt │ │ │ └── reducedFF_modelNode_0_weight.txt │ │ └── reduced_diamondRobot.py │ │ └── diamond_hyperElastic │ │ ├── data │ │ ├── modes.txt │ │ ├── reducedFF_FixedBox_1_RID.txt │ │ ├── reducedFF_FixedBox_1_weight.txt │ │ ├── reducedFF_modelNode_0_RID.txt │ │ └── reducedFF_modelNode_0_weight.txt │ │ └── reduced_diamondRobotHyperElastic.py │ ├── finger │ ├── finger.pyscn │ ├── mesh │ │ ├── finger.stl │ │ └── finger.vtk │ └── reduced │ │ ├── data │ │ ├── modes.txt │ │ ├── reducedFF_finger_0_RID.txt │ │ ├── reducedFF_finger_0_weight.txt │ │ ├── reducedFF_finger_1_RID.txt │ │ └── reducedFF_finger_1_weight.txt │ │ ├── debug │ │ ├── debug_scene.py │ │ ├── stateFile.state │ │ └── step2_stateFile.state │ │ └── reduced_finger.py │ ├── multiGait │ ├── ROM_data │ │ ├── listActiveNodes_quadrupedBodyMembraneWellConvergedNG003and005.txt │ │ ├── modesQuadrupedWellConverged.txt │ │ ├── reducedIntegrationDomain_quadrupedBodyWellConvergedNG003.txt │ │ ├── reducedIntegrationDomain_quadrupedMembraneWellConvergedNG005.txt │ │ ├── weights_quadrupedBodyWellConvergedNG003.txt │ │ └── weights_quadrupedMembraneWellConvergedNG005.txt │ ├── controller │ │ ├── keyInteractiveController.py │ │ └── waveController.py │ ├── images │ │ └── multigaitInAction.png │ ├── mesh │ │ ├── full_quadriped_SMALL.vtk │ │ ├── full_quadriped_fine.vtk │ │ ├── quadriped_Center-cavityREMESHEDlighter.stl │ │ ├── quadriped_Center-cavity_finer.stl │ │ ├── quadriped_Front-Left-cavity_collis.stl │ │ ├── quadriped_Front-Left-cavity_finer.stl │ │ ├── quadriped_Front-Right-cavity_collis.stl │ │ ├── quadriped_Front-Right-cavity_finer.stl │ │ ├── quadriped_Rear-Left-cavity_collis.stl │ │ ├── quadriped_Rear-Left-cavity_finer.stl │ │ ├── quadriped_Rear-Right-cavity_collis.stl │ │ ├── quadriped_Rear-Right-cavity_finer.stl │ │ └── quadriped_collision.stl │ ├── multiGait.py │ ├── reduced │ │ ├── data │ │ │ ├── modes.txt │ │ │ ├── reducedFF_modelSubTopo_1_RID.txt │ │ │ ├── reducedFF_modelSubTopo_1_weight.txt │ │ │ ├── reducedFF_model_0_RID.txt │ │ │ └── reducedFF_model_0_weight.txt │ │ └── reduced_multiGait.py │ ├── reducedMultiGait-softRobot.html │ ├── reducedMultiGait-softRobot.pyscn │ └── reducedMultiGait-softRobot.pyscn.qglviewer.view │ └── sofiaLeg │ ├── controller │ ├── __init__.py │ └── sofiaLegController.py │ ├── mesh │ ├── sofia_leg.stl │ └── sofia_leg.vtu │ ├── reduced │ ├── data │ │ ├── modes.txt │ │ ├── reducedFF_SofiaLeg_0_RID.txt │ │ ├── reducedFF_SofiaLeg_0_weight.txt │ │ ├── reducedFF_SofiaLeg_1_RID.txt │ │ ├── reducedFF_SofiaLeg_1_weight.txt │ │ ├── reducedFF_SofiaLeg_2_RID.txt │ │ └── reducedFF_SofiaLeg_2_weight.txt │ ├── debug │ │ ├── debug_scene.py │ │ ├── stateFile.state │ │ └── step2_stateFile.state │ └── reduced_sofiaLeg.py │ ├── sofiaComplete │ ├── DemoSofia.py │ ├── __init__.py │ ├── controller │ │ ├── __init__.py │ │ └── sofiaController.py │ ├── mesh │ │ ├── body_surf.obj │ │ └── sofia_leg.stl │ └── sofiaSixLegs.py │ └── sofiaLeg.py ├── python ├── mor │ ├── __init__.py │ ├── animation │ │ ├── __init__.py │ │ └── shakingAnimations.py │ ├── controller │ │ └── lambdaDumper.py │ ├── gui │ │ ├── __init__.py │ │ ├── icons │ │ │ ├── icon.png │ │ │ └── leftArrow.png │ │ ├── settings │ │ │ ├── existingAnimation.py │ │ │ ├── last_ui_cfg.yml │ │ │ ├── reset.yml │ │ │ └── ui_colors.py │ │ ├── ui_design.py │ │ ├── ui_design.ui │ │ ├── ui_mor.py │ │ ├── utility.py │ │ └── widget │ │ │ ├── __init__.py │ │ │ ├── animationTableWidget.py │ │ │ ├── completer.py │ │ │ ├── frameLayout.py │ │ │ ├── genericDialogForm.py │ │ │ ├── lineEdit.py │ │ │ ├── treeModel.py │ │ │ └── widgetUtility.py │ ├── reduction │ │ ├── __init__.py │ │ ├── container │ │ │ ├── __init__.py │ │ │ ├── objToAnimate.py │ │ │ ├── packageBuilder.py │ │ │ ├── reductionAnimations.py │ │ │ └── reductionParam.py │ │ ├── reduceModel.py │ │ ├── script │ │ │ ├── ConvertRIDinActiveNodes.py │ │ │ ├── ReadGieFileAndComputeRIDandWeights.py │ │ │ ├── ReadLambdaFilesAndComputeNNMF.py │ │ │ ├── ReadMechanicalMatricesAndComputeVibrationModes.py │ │ │ ├── ReadStateFilesAndComputeModes.py │ │ │ ├── __init__.py │ │ │ └── prepareStateFiletoDisplayModes.py │ │ └── template │ │ │ ├── debug_scene.py │ │ │ ├── myInit.txt │ │ │ ├── phase1_snapshots.py │ │ │ ├── phase2_prepareECSW.py │ │ │ └── phase3_performECSW.py │ ├── utility │ │ ├── __init__.py │ │ ├── graphScene.py │ │ ├── sceneCreation.py │ │ ├── template │ │ │ ├── importScene.py │ │ │ ├── myFooter.txt │ │ │ └── myHeader.txt │ │ ├── utility.py │ │ └── writeScene.py │ └── wrapper │ │ ├── __init__.py │ │ └── replaceAndSave.py └── morlib │ ├── README.md │ └── __init__.py ├── src └── ModelOrderReduction │ ├── component │ ├── contact │ │ ├── MORFrictionContact.cpp │ │ ├── MORFrictionContact.h │ │ ├── MORFrictionContact.inl │ │ ├── MORFrictionContact[OBBCapsule].cpp │ │ ├── MORUnilateralInteractionConstraint.cpp │ │ ├── MORUnilateralInteractionConstraint.h │ │ ├── MORUnilateralInteractionConstraint.inl │ │ ├── MORpointModel.cpp │ │ ├── MORpointModel.h │ │ └── MORpointModel.inl │ ├── forcefield │ │ ├── HyperReducedHelper.cpp │ │ ├── HyperReducedHelper.h │ │ ├── HyperReducedHexahedronFEMForceField.cpp │ │ ├── HyperReducedHexahedronFEMForceField.h │ │ ├── HyperReducedHexahedronFEMForceField.inl │ │ ├── HyperReducedRestShapeSpringsForceField.cpp │ │ ├── HyperReducedRestShapeSpringsForceField.h │ │ ├── HyperReducedRestShapeSpringsForceField.inl │ │ ├── HyperReducedTetrahedralCorotationalFEMForceField.cpp │ │ ├── HyperReducedTetrahedralCorotationalFEMForceField.h │ │ ├── HyperReducedTetrahedralCorotationalFEMForceField.inl │ │ ├── HyperReducedTetrahedronFEMForceField.cpp │ │ ├── HyperReducedTetrahedronFEMForceField.h │ │ ├── HyperReducedTetrahedronFEMForceField.inl │ │ ├── HyperReducedTetrahedronHyperelasticityFEMForceField.cpp │ │ ├── HyperReducedTetrahedronHyperelasticityFEMForceField.h │ │ ├── HyperReducedTetrahedronHyperelasticityFEMForceField.inl │ │ ├── HyperReducedTriangleFEMForceField.cpp │ │ ├── HyperReducedTriangleFEMForceField.h │ │ ├── HyperReducedTriangleFEMForceField.inl │ │ ├── MechanicalMatrixMapperMOR.h │ │ └── MechanicalMatrixMapperMOR.inl │ ├── loader │ │ ├── MatrixLoader.cpp │ │ ├── MatrixLoader.h │ │ └── MatrixLoader.inl │ └── mapping │ │ ├── MORContactMapping.cpp │ │ ├── MORContactMapping.h │ │ ├── MORContactMapping.inl │ │ ├── ModelOrderReductionMapping.cpp │ │ ├── ModelOrderReductionMapping.h │ │ └── ModelOrderReductionMapping.inl │ ├── config.h.in │ └── initModelOrderReduction.cpp └── tools ├── gui ├── cfg │ ├── cfg_diamondRobot.yml │ ├── cfg_liver.yml │ ├── cfg_quadruped.yml │ └── cfg_sofia.yml ├── gui_modelOrderReduction.py └── myAnimation │ └── myanimation.py ├── modelOrderReduction.py └── notebook ├── README.md ├── modelOrderReduction.ipynb └── modelOrderReductionHexaBeam.ipynb 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