Doubts: Complie SofaRobots and Sofapython3

Hi, SOFA Forum,
Recently, I have seen many people have some doubts about SofaPython and SofaPython3 because they depend on different python environment, so I hope the Forum can give more details about Sofapython, Sofapython3, and Softrobot Plugin.
As we all know, for SoftRobot plugin, It needs the STLIB plugin to compile. Meanwhile, the STLIB plugin requires the SofaPython plugin as dependencies. So, we need a python2 environment in our Ubuntu.
However, for the command “import Sofa” in the Softrobot plugin, when we use it in .py file to create soft robot scenes. The forum said, “import Sofa” is only compatible with SofaPython3, So,
many people start to install the Sofapython3 in order to use SoftRobots. However, Sofapython3 requires a python3 environment, and we need to install python3. That is to say, we have 2 python environments. How to and when to switch python environments??

Can we only use Sofa, Sofapython3 and SoftRobot to work together?
If we have complied Sofa, Sofapython, STLIB, SoftRobot successfully, next, to add Sofapython3 using out-of-tree build(at this time, we need to change python2 to python3), the compilation
process occur some error, I guess the python2 and python3 confliction.

So please give us more details about how to use the SoftRobot and SofaPython3. Thanks.