[SOLVED] How to make a PythonScript controller with SofaPython3

[Pasquale94]

Hello everyone, I recently installed SofaPython3 in my sofa version (20.06 on Ubuntu 20.04), so I am building my first simulation in python3 and i have difficulties into code the Python controller.
I already read this interesting topic on the forum, and I understand that many things changed, like the event commands(and thi is clear) and also the way which the object from the scene are called (this is not so clear to me). In python2.7 I written this simple controller to inflate automatically a pneunet finger, I would like to know what would be the specular code using Python3:

    def initGraph(self, node):

            self.node = node
            self.finger1Node=self.node.getChild('finger')
            self.pressureConstraint1Node = self.finger1Node.getChild('cavity')
            self.MecaObject1=self.finger1Node.getObject('tetras')

           

    def onBeginAnimationStep(self,dt):
        self.dt = self.node.findData('dt').value
        incr = self.dt*1000.0
        
        self.pressureConstraint1 = self.pressureConstraint1Node.getObject('SurfacePressureConstraint')
        

        pressureValue = self.pressureConstraint1.findData('value').value[0][0] + 0.01

        if pressureValue > 1.29:
         pressureValue = 1.29

        self.pressureConstraint1.findData('value').value = str(pressureValue)

        print pressureValue

        return 0
     
    def onEndAnimationStep(self,dt):
        return 0 

So how can I call the objects from the scene in the controller? How I can get access to the data?
Kind regards,
Pasquale

[Pasquale94]

hello everyone!

I feel stupid but I resolved by myself ahaha.

I will close the topic

[Arthur]

Dear @Pasquale94 ,

I am having the same issue and I was wondering if you would post your solution?

I used to change the pressures in 2.7 with:
self.pressureConstraint1.findData(‘value’).value = str(pressureValue)

but now when I try to do this with SofaPython3, I get an error like this:
terminate called after throwing an instance of ‘pybind11::error_already_set’
what(): RuntimeError: Unable to cast Python instance to C++ type (compile in debug mode for details)

My exact code is posted below: see line 145 in the animate function.

Best,
Arthur

import Sofa
import SofaRuntime
import sys
import os
#from stlib3.physics.constraints import FixedBox
from stlib3.scene import Scene
from splib.animation import AnimationManager, addAnimation
#from elasticmaterialobject import ElasticMaterialObject
#from stlib3.physics.deformable.elasticmaterialobject import ElasticMaterialObject
#from softrobots.actuators import PneumaticCavity
import time
import math
import numpy as np
import timeit

path = os.path.dirname(os.path.abspath(__file__)) + '/'
meshpath = path+"mesh/"

# scene helper function, defining materials and constraints
def createSceneReal(rootNode, dt):

    
    # this sets gravity and dt in the simulator

    rootNode = Scene(rootNode, gravity=[0.0, -0.0, 0], dt=dt)
    # marks a required plugin and some visual style stuff

    rootNode.addObject('RequiredPlugin', pluginName='SoftRobots')
    rootNode.addObject('VisualStyle',
                          displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')

    # animation loop used for legrangian constraints
    rootNode.addObject('FreeMotionAnimationLoop')
    # linear solver (with parameters from example file)
    rootNode.addObject('GenericConstraintSolver', name='gencs', maxIterations='500', printLog='0', tolerance='0.0000001')
    # set color of background, just visual style
    rootNode.addObject('BackgroundSetting', color='0 0.168627 0.211765')
    # YM of the material. All in kg / m / s
    volumeMeshFileName=meshpath+"two_cell_robot_solid.msh"
    name="two_cell_robot"
    rotation=[0.0, 0.0, 0.0]
    translation=[0.0, 0.0, 0.0]
    scale=[1.0, 1.0, 1.0]
    surfaceMeshFileName=None
    collisionMesh=None
    withConstrain=True
    surfaceColor=[1.0, 1.0, 1.0]
    poissonRatio=0.3
    youngModulus=1800
    totalMass=1.0
    solver=None
    # elestic material from prefab
    '''two_cell_robot = ElasticMaterialObject(name="two_cell_robot",
                                  attachedTo=rootNode,
                                  volumeMeshFileName=meshpath+"two_cell_robot_solid.msh",
                                  surfaceMeshFileName=None,
                                  youngModulus=YoungModulus,
                                  withConstrain=True,
                                  totalMass=1.0,
                                  translation=None,
                                  rotaiton=None,
                                  scale=[1.,1.0,1.0],
                                  collisionMesh=None,
                                  surfaceColor=None)

    '''
    
    two_cell_robot = rootNode.createChild( 'two_cell_robot' )
    two_cell_robot.addObject('MeshGmshLoader', name='loader', filename=volumeMeshFileName, rotation=rotation, translation=translation, scale3d=scale)
    two_cell_robot.addObject( 'EulerImplicitSolver', name='integration')
    two_cell_robot.addObject( 'SparseLDLSolver', name="solver")
    two_cell_robot.addObject( 'TetrahedronSetTopologyContainer', src="@loader", name="container")
    two_cell_robot.addObject( 'MechanicalObject', template='Vec3d',  name='dofs') #topology="@container",
    two_cell_robot.addObject( 'UniformMass', totalMass=totalMass, name='mass')
    two_cell_robot.addObject( 'TetrahedronFEMForceField', template='Vec3d', method='large', name='forcefield', poissonRatio=poissonRatio, youngModulus=youngModulus)

    two_cell_robot.addObject( 'LinearSolverConstraintCorrection', template='Vec3d', solverName='solver')
    
    #two_cell_robot.addObject( 'FixedConstraint', template='Vec3d', topology="@container" )

    #vm = two_cell_robot.createChild( 'VisualModel' )
    #vm.addObject( 'MeshSTLLoader', template='')
    #vm.addObject( 'OglModel', template='Vec3d', topology="@/two_cell_robot/container" )
    #vm.addObject( 'BarycentricMapping', template='Vec3d,Vec3d', input="@../" , output="@./" )

    # impose the constraints TODO: get these constraints so I can add gravity.
    #two_cell_robot.addObject("FixedConstraint", indices=fixed_const_str)

    # create the two actuators
    cavity1 = two_cell_robot.createChild('cavity1')
    cavity1.addObject('MeshSTLLoader', name='loader', filename=meshpath + "two_cell_robot_cell1.stl",
                        translation="0 0 0")
    cavity1.addObject('Mesh', src='@loader', name='topo')
    cavity1.addObject('MechanicalObject', name='cavity')
    cavity1.addObject('SurfacePressureConstraint', name="SurfacePressureConstraint", template='Vec3d', value="0.6001",
                        triangles='@topo.triangles', visualization='0', showVisuScale='0.0002', valueType="pressure")
    cavity1.addObject('BarycentricMapping', name='mapping', mapForces='false', mapMasses='false')

    cavity2 = two_cell_robot.createChild('cavity2')
    cavity2.addObject('MeshSTLLoader', name='loader', filename=meshpath + "two_cell_robot_cell2.stl",
                        translation="0 0 0")
    cavity2.addObject('Mesh', src='@loader', name='topo')
    cavity2.addObject('MechanicalObject', name='cavity')
    cavity2.addObject('SurfacePressureConstraint', name="SurfacePressureConstraint", template='Vec3d', value="0.0001",
                        triangles='@topo.triangles', visualization='0', showVisuScale='0.0002', valueType="pressure")
    cavity2.addObject('BarycentricMapping', name='mapping', mapForces='false', mapMasses='false')

    # two_cell_robot visualization
    two_cell_robotVisu = two_cell_robot.createChild('visu')
    two_cell_robotVisu.addObject('TriangleSetTopologyContainer', name='container')
    two_cell_robotVisu.addObject('TriangleSetTopologyModifier')
    #two_cell_robotVisu.addObject('TriangleSetTopologyAlgorithms', template='Vec3d')
    two_cell_robotVisu.addObject('TriangleSetGeometryAlgorithms', template='Vec3d')
    two_cell_robotVisu.addObject('Tetra2TriangleTopologicalMapping', name='Mapping', input="@../container",
                           output="@container")
    two_cell_robotVisu.addObject('OglModel', template='ExtVec3f', color='0.3 0.2 0.2 0.6', translation=translation)
    two_cell_robotVisu.addObject('IdentityMapping')
    
    return two_cell_robot

# "Main" function that runSofa uses to build the scene.
def createScene(rootNode):
    dt = 0.001 # set the time step for the simulator
    # set length scale

    '''
    # information about the output.
    info_arr = np.array([float(length_scale), 0, dt, num_nodes])

    print "info array ", info_arr
    print "number of nodes", num_nodes, " num end nodes ", len(fixed_const_lst), " num mid nodes ", len(middle_nodes_lst)
    '''

    # simulation timer
    start = timeit.default_timer()

    #animation function called at each step
    def my_animation(target, factor):
        factor = factor*2*np.pi
        pressureValue1 = target["two_cell_robot.cavity1.SurfacePressureConstraint.value"].getValueString()
        print(pressureValue1)
        pressureValue1 = float(pressureValue1)
        target.two_cell_robot.cavity1.SurfacePressureConstraint.findData('value').value = str(0.1)
        print(dir(target.two_cell_robot.cavity1.SurfacePressureConstraint))

        
        print(target.two_cell_robot.cavity1.SurfacePressureConstraint.pressure.value)
        target.two_cell_robot.cavity1.SurfacePressureConstraint.findData('value').value = str(10.0)

        print(factor)

    # the exit func is called when duration of time has elapsed, it marks the simulation time
    # saves it, and saves the collected data to an array. And exits the simulation with sys exit
    def ExitFunc(target, factor):
        # save the various data.
        runtime = timeit.default_timer() - start
        print("runtime", runtime)
        sys.exit(0)

    def getObject(self, name):
        return name
    # this is the Sofa animation function we pass it our animation function
    # and along with the exit function.
    createSceneReal(rootNode, dt)
    
    AnimationManager(rootNode)
    addAnimation(my_animation, {"target": rootNode}, duration=2.0, mode="once", onDone=ExitFunc)

    return rootNode

[jnbrunet]

Hi @amackeith

Can you post the complete output of the error so that we can see the call stack (history of called functions until the error)?

J-N

[Arthur]

Hi @jnbrunet,

The full output is posted below, the whole example is posted here in https://github.com/ripl-ttic/SofaFramework-Docker/tree/python3 [Edit: I inadvertently pushed to this branch this afternoon, but for record keeping as well, look at commit 4a975fc53a215f547d353917d990fd01d8f0428b for the example][NB: this is not the master branch].

The full environment is specified in Dockerfile, you can build with ./build.sh and then run the environment with ./launch.sh, or x-docker_launch.sh, once you are in run the example with “runSofa block_test.py –start”.

sofauser@carbon:~/workdir/simple_control_policy$ runSofa block_test.py --start
[INFO]    [runSofa] PluginRepository paths = /builds/build/master/lib:/builds/build/master/plugins
[INFO]    [runSofa] DataRepository paths = /builds/src/share:/builds/src/examples
[INFO]    [runSofa] GuiDataRepository paths = /builds/src/applications/projects/runSofa/resources:/builds/src/modules/SofaGuiQt/src/sofa/gui/qt/resources
[INFO]    [runSofa] Loading automatically plugin list in /builds/build/master/lib/plugin_list.conf
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralVisual.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGraphComponent.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralMeshCollision.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaBoundaryCondition.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralAnimationLoop.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralDeformable.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralEngine.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralExplicitOdeSolver.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralImplicitOdeSolver.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralLinearSolver.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralRigid.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralObjectInteraction.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralSimpleFem.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralTopology.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaTopologyMapping.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaUserInteraction.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaConstraint.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaGeneralLoader.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaSparseSolver.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaPreconditioner.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaHaptics.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaValidation.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaDenseSolver.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaNonUniformFem.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaOpenglVisual.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaMiscTopology.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaMiscExtra.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaMiscForceField.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaMiscEngine.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaMiscSolver.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaMiscFem.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaMiscMapping.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaExporter.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libCImgPlugin.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaMiscCollision.so
[INFO]    [SofaPython3]  Initializing with python version 3.7.5 (default, Nov  7 2019, 10:50:52) 
[GCC 8.3.0]
[INFO]    [SofaPython3] Registering a scene loader for [.py, .py3, .pyscn, .py3scn] files.
[INFO]    [SofaPython3] Shared library name is 'libpython3.7m.so'
[INFO]    [SofaPython3] Intializing python
[INFO]    [SofaPython3] Added '/builds/build/master/python3/site-packages' to sys.path
[INFO]    [SofaPython3] Added '/builds/src/applications/plugins/SofaTest/python' to sys.path
[INFO]    [SofaPython3] Added '/builds/build/master/lib/python3/site-packages' to sys.path
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSofaPython3.so
libGL error: failed to open /dev/dri/card0: Permission denied
libGL error: failed to load driver: nouveau
Warning: Setting a new default format with a different version or profile after the global shared context is created may cause issues with context sharing.
The constructor with a QGLFormat is deprecated, use the regular contructor instead.

[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSTLIB.so
[INFO]    [PluginManager] Loaded plugin: /builds/build/master/lib/libSoftRobots.so
[DEPRECATED] [DAGNode(root)] The Node.createChild method is deprecated since sofa 19.06.To remove this warning message, use 'addChild'.
[DEPRECATED] [DAGNode(two_cell_robot)] The Node.createChild method is deprecated since sofa 19.06.To remove this warning message, use 'addChild'.
[DEPRECATED] [DAGNode(two_cell_robot)] The Node.createChild method is deprecated since sofa 19.06.To remove this warning message, use 'addChild'.
[DEPRECATED] [DAGNode(two_cell_robot)] The Node.createChild method is deprecated since sofa 19.06.To remove this warning message, use 'addChild'.
[WARNING] [OglModel(OglModel)] Template ExtVec3f incorrect, used Vec3d
[INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckDuplicatedName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias]
[WARNING] [SceneCheckMissingRequiredPlugin] This scene is using component defined in plugins but is not importing the required plugins.  
  Your scene may not work on a sofa environment with different pre-loaded plugins.  
  To fix your scene and remove this warning you just need to cut & paste the following lines at the begining of your scene (if it is a .scn):   
  <RequiredPlugin pluginName='SofaConstraint'/> <!-- Needed to use components [FreeMotionAnimationLoop, GenericConstraintSolver, LinearSolverConstraintCorrection, ]-->  
<RequiredPlugin pluginName='SofaOpenglVisual'/> <!-- Needed to use components [OglModel, ]-->  
<RequiredPlugin pluginName='SofaSparseSolver'/> <!-- Needed to use components [SparseLDLSolver, ]-->  
<RequiredPlugin pluginName='SofaTopologyMapping'/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping, ]-->  

[WARNING] [SceneCheckUsingAlias] This scene is using hard coded aliases. Aliases can be very confusing, use with caution.  
  - MeshTopology: 2 created with alias "Mesh"
[INFO]    [SceneCheckerVisitor] Finished validating node "root".
[WARNING] [SurfacePressureConstraint(SurfacePressureConstraint)] The field named 'visualization' is now deprecated. To remove this warning message, the field 'visualization' should be replaced by the field 'drawPressure'.
[WARNING] [SurfacePressureConstraint(SurfacePressureConstraint)] The field named 'showVisuScale' is now deprecated. To remove this warning message, the field 'showVisuScale' should be replaced by the field 'drawScale'.
[WARNING] [SurfacePressureConstraint(SurfacePressureConstraint)] The field named 'visualization' is now deprecated. To remove this warning message, the field 'visualization' should be replaced by the field 'drawPressure'.
[WARNING] [SurfacePressureConstraint(SurfacePressureConstraint)] The field named 'showVisuScale' is now deprecated. To remove this warning message, the field 'showVisuScale' should be replaced by the field 'drawScale'.
0.6001
terminate called after throwing an instance of 'pybind11::error_already_set'
  what():  RuntimeError: Unable to cast Python instance to C++ type (compile in debug mode for details)

At:
  block_test.py(145): my_animation
  /builds/build/master/lib/python3/site-packages/splib/animation/animate.py(88): update
  /builds/build/master/lib/python3/site-packages/splib/animation/animate.py(133): computeAnimations
  /builds/build/master/lib/python3/site-packages/splib/animation/animate.py(126): onAnimateBeginEvent

########## SIG 6 - SIGABRT: usually caused by an abort() or assert() ##########
-> /builds/build/master/lib/libSofaHelper.so.20.06.99(sofa::helper::BackTrace::dump()+0x20) [0x7feab0516a70]
-> /builds/build/master/lib/libSofaHelper.so.20.06.99(sofa::helper::BackTrace::sig(int)+0x358) [0x7feab0517008]
-> /lib/x86_64-linux-gnu/libc.so.6(+0x3f040) [0x7feaad853040]
-> /lib/x86_64-linux-gnu/libc.so.6(gsignal+0xc7) [0x7feaad852fb7]
-> /lib/x86_64-linux-gnu/libc.so.6(abort+0x141) [0x7feaad854921]
-> /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x8c957) [0x7feaae466957]
-> /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x92ae6) [0x7feaae46cae6]
-> /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x92b21) [0x7feaae46cb21]
-> /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x92d54) [0x7feaae46cd54]
-> /builds/build/master/lib/python3/site-packages/Sofa/Core.cpython-37m-x86_64-linux-gnu.so(+0x9bf75) [0x7fea6adddf75]
-> /builds/build/master/lib/python3/site-packages/Sofa/Core.cpython-37m-x86_64-linux-gnu.so(+0x9b1ff) [0x7fea6addd1ff]
-> /builds/build/master/lib/python3/site-packages/Sofa/Core.cpython-37m-x86_64-linux-gnu.so(+0x9b5ab) [0x7fea6addd5ab]
-> /builds/build/master/lib/libSofaSimulationCore.so.20.06.99(void sofa::simulation::Visitor::for_each<sofa::simulation::PropagateEventVisitor, sofa::simulation::Node, sofa::simulation::Node::Sequence<sofa::core::objectmodel::BaseObject, true>, sofa::core::objectmodel::BaseObject>(sofa::simulation::PropagateEventVisitor*, sofa::simulation::Node*, sofa::simulation::Node::Sequence<sofa::core::objectmodel::BaseObject, true> const&, void (sofa::simulation::PropagateEventVisitor::*)(sofa::simulation::Node*, sofa::core::objectmodel::BaseObject*))+0xf9) [0x7feab1aa5519]
-> /builds/build/master/lib/libSofaSimulationCore.so.20.06.99(sofa::simulation::PropagateEventVisitor::processNodeTopDown(sofa::simulation::Node*)+0x20) [0x7feab1aa53d0]
-> /builds/build/master/lib/libSofaSimulationGraph.so.20.06.99(sofa::simulation::graph::DAGNode::executeVisitorTopDown(sofa::simulation::Visitor*, std::__cxx11::list<sofa::simulation::graph::DAGNode*, std::allocator<sofa::simulation::graph::DAGNode*> >&, std::map<sofa::simulation::graph::DAGNode*, sofa::simulation::graph::DAGNode::StatusStruct, std::less<sofa::simulation::graph::DAGNode*>, std::allocator<std::pair<sofa::simulation::graph::DAGNode* const, sofa::simulation::graph::DAGNode::StatusStruct> > >&, sofa::simulation::graph::DAGNode*)+0x392) [0x7feac3038122]
-> /builds/build/master/lib/libSofaSimulationGraph.so.20.06.99(sofa::simulation::graph::DAGNode::doExecuteVisitor(sofa::simulation::Visitor*, bool)+0x19d) [0x7feac303761d]
-> /builds/build/master/lib/libSofaConstraint.so(sofa::component::animationloop::FreeMotionAnimationLoop::step(sofa::core::ExecParams const*, double)+0xb97) [0x7feaa2bd91b7]
-> /builds/build/master/lib/libSofaSimulationCore.so.20.06.99(sofa::simulation::Simulation::animate(sofa::simulation::Node*, double)+0x58) [0x7feab1aa71d8]
-> /builds/build/master/lib/libSofaGuiQt.so.20.06.99(sofa::gui::qt::RealGUI::step()+0xca) [0x7feac26f16da]
-> /opt/qt512/lib/libQt5Core.so.5(QMetaObject::activate(QObject*, int, int, void**)+0x865) [0x7feab57523f5]
-> /opt/qt512/lib/libQt5Core.so.5(QTimer::timeout(QTimer::QPrivateSignal)+0x37) [0x7feab575f2d7]
-> /opt/qt512/lib/libQt5Core.so.5(QTimer::timerEvent(QTimerEvent*)+0x28) [0x7feab575f638]
-> /opt/qt512/lib/libQt5Core.so.5(QObject::event(QEvent*)+0x9b) [0x7feab5752f1b]
-> /opt/qt512/lib/libQt5Widgets.so.5(QApplicationPrivate::notify_helper(QObject*, QEvent*)+0x9c) [0x7feab61cee4c]
-> /opt/qt512/lib/libQt5Widgets.so.5(QApplication::notify(QObject*, QEvent*)+0x2f0) [0x7feab61d6430]
-> /opt/qt512/lib/libQt5Core.so.5(QCoreApplication::notifyInternal2(QObject*, QEvent*)+0x118) [0x7feab57227f8]
-> /opt/qt512/lib/libQt5Core.so.5(QTimerInfoList::activateTimers()+0x409) [0x7feab577ed99]
-> /opt/qt512/lib/libQt5Core.so.5(+0x2ef561) [0x7feab577f561]
-> /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0(g_main_context_dispatch+0x2e7) [0x7feaa92b5417]
-> /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0(+0x4c650) [0x7feaa92b5650]
-> /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0(g_main_context_iteration+0x2c) [0x7feaa92b56dc]
-> /opt/qt512/lib/libQt5Core.so.5(QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)+0x5f) [0x7feab577f92f]
-> /opt/qt512/lib/libQt5Core.so.5(QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)+0x13a) [0x7feab5720a4a]
-> /opt/qt512/lib/libQt5Core.so.5(QCoreApplication::exec()+0x90) [0x7feab5729c50]
-> /builds/build/master/lib/libSofaGuiQt.so.20.06.99(sofa::gui::qt::RealGUI::mainLoop()+0x162) [0x7feac26e7bd2]
-> /builds/build/master/lib/libSofaGuiCommon.so.20.06.99(sofa::gui::GUIManager::MainLoop(boost::intrusive_ptr<sofa::simulation::Node>, char const*)+0x60) [0x7feac221ed20]
-> runSofa() [0x413740]
-> /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xe7) [0x7feaad835bf7]
-> runSofa() [0x40ea2a]
Aborted (core dumped)

[jnbrunet]

Hi @amackeith,

Can you try to change the following line:

target.two_cell_robot.cavity1.SurfacePressureConstraint.findData('value').value = str(0.1)

To

with target.two_cell_robot.cavity1.SurfacePressureConstraint.value.writeableArray() as wa:
    wa[0] = 0.1

J-N

[Arthur]

Thanks @jnbrunet,

that has done it!

On a side note, I was wondering if there is an established way to reset a sofa simulation in SofaPython3, I would want it to have the same effect as, the “Reset Scene” button does in the gui – all the objects go back to their original locations, the clock is set to zero, and the python controllers are reloaded and run again.

Thank you again!

Arthur

[jnbrunet]

Hi @amackeith ,

You could try the following:

import Sofa.Simulation

# (...)

# At some point in your script, reset the scene
Sofa.Simulation.reset(root)

This will launch a reset visitor on the scene graph starting from the root node, which should be the same as hitting the reset button in the GUI.

J-N

[Pasquale94]

Hello guys,
Sorry for the late reply @amackeith but I started my Christmas holydays some days ago, I hope that the problem is resolved.

Merry Christmas everyone.
Pasquale

[nhnhan]

Dear @jnbrunet,
I just wonder that could I able to execute the “reset scene” function using sofapython 2.7?? otherwise, I want to recover the shape of a deformed object back to the original one after the end of the interaction. Is there any other solution for this purpose?
Appreciate for any help
Nhan

[Author]

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