[Abdelrahman]

Hello @guillaumeparan

It’s exactly the same output as before

[Abdelrahman]

Hello @guillaumeparan

I started by creating a sofaros package and ran the node in one terminal by
rosrun sofaros recv.py

and in another terminal I ran the command
~/SOFA/v21.12.00/bin/runSofa ~/catkin_ws/src/sofaros/src/test_sofaros.py

[Abdelrahman]

Hello @hugo

Thanks your quick reply, I have tried the example that is provided in the link after transferring it to SofaPython3 and also tried another example. In both cases when I run sofa it opens and close instantaneously and i’m getting this error message

[WARNING] [SofaEigen2Solver] SofaEigen2Solver is deprecated; Eigen classes are now located in Sofa.LinearAlgebra and SVDLinearSolver in SofaDenseSolver.You can remove SofaEigen2Solver from your scene, and if using SVDLinearSolver, please load SofaDenseSolver instead.
[INFO]    [runSofa] PluginRepository paths = /home/abdelrahman/SOFA/v21.12.00/plugins:/home/abdelrahman/SOFA/v21.12.00/lib
[INFO]    [runSofa] DataRepository paths = /home/abdelrahman/SOFA/v21.12.00/share/sofa:/home/abdelrahman/SOFA/v21.12.00/share/sofa/examples:/home/abdelrahman/SOFA/v21.12.00/share/sofa:/home/abdelrahman/SOFA/v21.12.00/share/sofa/examples
[INFO]    [runSofa] GuiDataRepository paths = /home/abdelrahman/SOFA/v21.12.00/share/sofa/gui/runSofa:/home/abdelrahman/SOFA/v21.12.00/share/sofa/gui/qt:/home/abdelrahman/SOFA/v21.12.00/share/sofa/gui/qt
[INFO]    [runSofa] Loading automatically plugin list in /home/abdelrahman/SOFA/v21.12.00/lib/plugin_list.conf
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaSimpleFem/lib/libSofaSimpleFem.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaRigid/lib/libSofaRigid.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaDeformable/lib/libSofaDeformable.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaObjectInteraction/lib/libSofaObjectInteraction.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaMeshCollision/lib/libSofaMeshCollision.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaEngine/lib/libSofaEngine.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaExplicitOdeSolver/lib/libSofaExplicitOdeSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaImplicitOdeSolver/lib/libSofaImplicitOdeSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaLoader/lib/libSofaLoader.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralVisual/lib/libSofaGeneralVisual.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGraphComponent/lib/libSofaGraphComponent.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralMeshCollision/lib/libSofaGeneralMeshCollision.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaBoundaryCondition/lib/libSofaBoundaryCondition.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralAnimationLoop/lib/libSofaGeneralAnimationLoop.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralDeformable/lib/libSofaGeneralDeformable.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralEngine/lib/libSofaGeneralEngine.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralExplicitOdeSolver/lib/libSofaGeneralExplicitOdeSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralImplicitOdeSolver/lib/libSofaGeneralImplicitOdeSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralLinearSolver/lib/libSofaGeneralLinearSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralRigid/lib/libSofaGeneralRigid.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralObjectInteraction/lib/libSofaGeneralObjectInteraction.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralSimpleFem/lib/libSofaGeneralSimpleFem.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralTopology/lib/libSofaGeneralTopology.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaTopologyMapping/lib/libSofaTopologyMapping.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaUserInteraction/lib/libSofaUserInteraction.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaConstraint/lib/libSofaConstraint.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaGeneralLoader/lib/libSofaGeneralLoader.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaSparseSolver/lib/libSofaSparseSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaDenseSolver/lib/libSofaDenseSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaOpenglVisual/lib/libSofaOpenglVisual.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaMiscCollision/lib/libSofaMiscCollision.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/CImgPlugin/lib/libCImgPlugin.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaSphFluid/lib/libSofaSphFluid.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/STLIB/lib/libSTLIB.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaNonUniformFem/lib/libSofaNonUniformFem.so
[INFO]    [SofaPython3] Initializing with python version 3.8.10 (default, Nov 26 2021, 20:14:08) 
[GCC 9.3.0]
[INFO]    [SofaPython3] Registering a scene loader for [.py, .py3, .pyscn, .py3scn] files.
[INFO]    [SofaPython3] Shared library name is 'libpython3.8m.so'
[INFO]    [SofaPython3] Intializing python
[INFO]    [SofaPython3] Added '/home/abdelrahman/SOFA/v21.12.00/plugins/SofaPython3/lib/python3/site-packages' to sys.path
---------------------------------------
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: /home/abdelrahman/SOFA/v21.12.00
Using environment variable SOFAPYTHON3_ROOT: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaPython3
---------------------------------------
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SofaPython3/lib/libSofaPython3.so
[INFO]    [PluginManager] Loaded plugin: /home/abdelrahman/SOFA/v21.12.00/plugins/SoftRobots/lib/libSoftRobots.so
[INFO]    [SofaPython3] Added '/home/abdelrahman/SOFA/v21.12.00/plugins/SoftRobots/lib/python3/site-packages' to sys.path
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.

[WARNING] [DefaultContactManager] Option "FrictionContact" for data "response" has been renamed since v21.12 (PR#2522). You have until v22.06 to fix your scene. Use "FrictionContactConstraint" instead.

########## SIG 11 - SIGSEGV: segfault ##########
  sofa::helper::BackTrace::sig(int)
  _PyObject_MakeTpCall
  PyObject_SetAttr
  _PyEval_EvalFrameDefault
  _PyObject_FastCallDict
  _PyObject_Call_Prepend
  _PyObject_MakeTpCall
  _PyEval_EvalFrameDefault
  PyVectorcall_Call
  sofapython3::SceneLoaderPY3::loadSceneWithArguments(char const*, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, boost::intrusive_ptr<sofa::simulation::Node>)
  sofapython3::SceneLoaderPY3::doLoad(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)
  sofa::simulation::SceneLoader::load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)
  sofa::simulation::Simulation::load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)
  __libc_start_main
Segmentation fault (core dumped)

I’m running latest sofa release on ubuntu 20.04

[Abdelrahman]

Hello @geofliu

I don’t know if this would help you or not, I ran with same issue on linux, I was trying to run sofa from a conda env. My solution that I copied the file stlib from sofa source to the path that sofa env run from, for example on my linux that is the path

PYTHONPATH=/home/abdelrahman/sofa/build/v21.06/lib/python3/site-packages

I copied the file in that path.

Best regards
Abdelrahman

[Abdelrahman]

Hello @hugo

I took @psomers advice and started working with GUI instead of the pygame but I was away for a while by the way @psomers thanks for the advice.

Now I launch the GUI from conda env. Also @hugo is it possible to have access for the sofaGym that was mentioned on one of the videos on the youtube channel of Sofa?

best regards

[Abdelrahman]

yes I have tried and still gave the same black screen but one more thing I keep getting this message in the terminal I don’t know if it’s related

[WARNING] [SparseLDLSolver(precond)] Invalid Linear System to solve. Please insure that there is enough constraints (not rank deficient).

[Abdelrahman]

but isn’t this different from the example which I followed

[Abdelrahman]

yes I can run it from the conda environment, although it should close when I press on the keyboard due the try except condition but that never happens I have to force quit it to close it

[Abdelrahman]

Hello

Thanks for your reply. I’m using the latest sofa version v21.06, for the soft robotics package I think it should work well with python 3 although after installing sofa I was not able to import splib3 in the begging so I had to copy past the files of the splib3 from the latest binary version to the lib file inside the build directory but I don’t think this would be the source of the problem here.

[Abdelrahman]

I was able to solve the problem by adding this lines of codes to the function
onEndAnimationStep

filename = './data/data.csv'
            if len(self.dataRows)%10==0:
                with open(filename, 'w') as file:
                    writer = csv.writer(file)
                    writer.writerows(self.dataRows)

but still the sofa framework did not respond to onKeyPressed function by pressing any key.

Also I’m facing this error
[ERROR] [MechanicalObject(MousePosition)] Invalid vOp operation 1 (null(V_DERIV),0(0),null(V_DERIV),100)
[ERROR] [MechanicalObject(MappedMousePosition)] Invalid vOp operation 1 (null(V_DERIV),0(0),null(V_DERIV),100)

[Abdelrahman]

Hi Damien

Thank you for your reply

[Abdelrahman]

Hello eaparra,

Thank you for your reply. I tried to build it from command line from build directory, but i got the many errors like the following one
/usr/bin/../lib/gcc/x86_64-linux-gnu/7.4.0/../../../../include/c++/7.4.0/type_traits:2905:3: error: ‘inline’ can only appear on functions
inline constexpr bool is_null_pointer_v = is_null_pointer<_Tp>::value;

I’m also using the unstable version of sofa as recemonede by sofaRobots

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