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I managed to fix the previous error. Problem was solved when I swapped the topology container and the mechanical object creation lines. However, now that I’ve added the cable and trying to add the python controller to actuate it produces a similar error.
Here’s the new code:
# Required import for python import Sofa import SofaRuntime from softrobots.actuators import PullingCable class CableController(Sofa.Core.Controller): def __init__(self, *args, **kwargs): print('Controller initialized') #self.node = kwargs["node"] #self.actuator = self.node.getChild('Actuator') #self.cable = self.actuator.getChild('Cable') #def onAnimateBeginEvent(self, eventType): #print('onAnimateBeginEvent') #print(self.cableL0Acutator.findData('displacement').value) def main(): # Make sure to load all SOFA libraries SofaRuntime.importPlugin("SofaBaseMechanics") # Call the above function to create the scene graph root = Sofa.Core.Node("root") createScene(root) # Once defined, initialization of the scene graph Sofa.Simulation.init(root) # Run the simulation for 10 steps for iteration in range(10): print(f'Iteration #{iteration}') print(root.worm.object.getObject("dofs")) Sofa.Simulation.animate(root, root.dt.value) print("Simulation made 10 time steps. Done") # Function used only if this script is called from a python environment if __name__ == '__main__': main() # Function called when the scene graph is being created def createScene(root): header(root) actuator(root) # floor(root, translation=[0.0, -20.0, 0.0], scale=3) root.addObject(CableController(node=root)) def header(parent): config = parent.addChild("Config") # Required Plugins #config.addObject('RequiredPlugin', name="SofaMiscCollision") config.addObject('RequiredPlugin', name="SofaOpenglVisual") #config.addObject('RequiredPlugin', name="SofaLoader") #config.addObject('RequiredPlugin', name="SofaGeneralLoader") config.addObject('RequiredPlugin', name="SofaSimpleFem") config.addObject('RequiredPlugin', name="SoftRobots") config.addObject('RequiredPlugin', name="SofaConstraint") config.addObject('RequiredPlugin', name="SofaImplicitOdeSolver") config.addObject('RequiredPlugin', name="SofaMeshCollision") config.addObject('RequiredPlugin', name="SofaBoundaryCondition") config.addObject('RequiredPlugin', name="SofaSparseSolver") parent.addObject('VisualStyle', displayFlags='hideWireframe showVisualModels showBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields hideInteractionForceFields') parent.findData('gravity').value = [0.0, 0.0, 0.0] parent.findData('dt').value = 0.01 parent.addObject('FreeMotionAnimationLoop', maxIt=1000, tolerance=0.01) parent.addObject('LCPConstraintSolver', maxIt=1000, tolerance=0.01) parent.addObject('DefaultPipeline') parent.addObject('BruteForceBroadPhase') parent.addObject('BVHNarrowPhase') parent.addObject('DefaultContactManager', response='FrictionContact', responseParams="mu=0.8") parent.addObject('LocalMinDistance', alarmDistance=2.5, contactDistance=0.5, angleCone=0.0) def actuator(parent,volumeMeshFileName="3D.msh",surfaceMeshFileName="2D.msh", poissonRatio="0.3", youngModulus="18000", color="1.0 0.0 1.0 1.0"): actuator = parent.addChild('Actuator') actuator.addObject('EulerImplicitSolver', rayleighMass=0.015, rayleighStiffness=0.015) actuator.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd") actuator.addObject("GenericConstraintCorrection", solverName="SparseLDLSolver") actuator.addObject('MeshGmshLoader', name="volume_mesh", filename=volumeMeshFileName) actuator.addObject('TetrahedronSetTopologyContainer', src='@volume_mesh') actuator.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d") actuator.addObject('MechanicalObject', template='Vec3d') actuator.addObject('DiagonalMass', totalMass=1.0) actuator.addObject('TetrahedronFEMForceField', poissonRatio=poissonRatio, youngModulus=youngModulus) actuator.addObject('UncoupledConstraintCorrection') actuator.addObject('FixedConstraint', indices='0 21 22 23 24 25 26 27 125 126 127 128') # Visual Model visual = actuator.addChild('Visual') visual.addObject('MeshGmshLoader', name="visual_mesh", filename=surfaceMeshFileName) visual.addObject('OglModel', name="VisualModel", src="@visual_mesh", color=color) visual.addObject('BarycentricMapping', name="VisualMapping", input="@..", output="@VisualModel") # Collision Model collision = actuator.addChild('Collision') collision.addObject('MeshGmshLoader', name="collision_mesh", filename=surfaceMeshFileName) collision.addObject('TriangleSetTopologyContainer', src='@collision_mesh') collision.addObject('MechanicalObject', template='Vec3d', name='CollisionModel') collision.addObject('TriangleCollisionModel') collision.addObject('LineCollisionModel') collision.addObject('PointCollisionModel') collision.addObject('BarycentricMapping', name="CollisionMapping", input="@..", output="@CollisionModel") # Cable Actuator cable = actuator.addChild('Cable') # This create a MechanicalObject, a componant holding the degree of freedom of our # mechanical modelling. In the case of a cable it is a set of positions specifying # the points where the cable is passing by. cable.addObject('MechanicalObject', position=[ [10.0, 0.0, 0.0], [10.0, 0.0, 10.0], [10.0, 0.0, 20.0], [10.0, 0.0, 30.0], [10.0, 0.0, 40.0], [10.0, 0.0, 50.0], [10.0, 0.0, 60.0], [10.0, 0.0, 70.0], [10.0, 0.0, 80.0], [10.0, 0.0, 90.0], [10.0, 0.0, 100.0], [10.0, 0.0, 110.0], [10.0, 0.0, 120.0], [10.0, 0.0, 130.0], [10.0, 0.0, 140.0], [10.0, 0.0, 150.0], [10.0, 0.0, 160.0], [10.0, 0.0, 170.0], [10.0, 0.0, 180.0], [10.0, 0.0, 190.0], [10.0, 0.0, 200.0], [10.0, 0.0, 210.0], [10.0, 0.0, 220.0], [10.0, 0.0, 230.0], [10.0, 0.0, 240.0], [10.0, 0.0, 250.0], ]) # Create a CableConstraint object with a name. # The indices are referring to the MechanicalObject's positions. # The last indice is where the pullPoint is connected. cable.addObject('CableConstraint', name='CableConstraint', #indices=range(0,14), indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25], pullPoint=[10.0, 0.0, -10.0], value=1 , valueType='displacement') cable.addObject('BarycentricMapping') def floor(parent, rotation=[0.0, 0.0, 0.0], translation=[0.0,0.0,0.0], scale=1): floor = parent.addChild('Floor') floor.addObject('MeshTopology', filename="mesh/floor.obj") floor.addObject('MechanicalObject', rotation=rotation, translation=translation, scale=scale) floor.addObject('TriangleCollisionModel') floor.addObject('LineCollisionModel') floor.addObject('PointCollisionModel')And output in terminal when trying to open the scene:
daserk@pop-os:~/SOFA/build/bin$ ./runSofa ../../../LINX/Cylinder\ Actuator/main.pyscn [INFO] [runSofa] PluginRepository paths = /home/daserk/SOFA/build/plugins:/home/daserk/SOFA/build/lib [INFO] [runSofa] DataRepository paths = /home/daserk/SOFA/src/share:/home/daserk/SOFA/src/examples:/home/daserk/SOFA/build:/home/daserk/SOFA/build [INFO] [runSofa] GuiDataRepository paths = /home/daserk/SOFA/src/applications/projects/runSofa/resources:/home/daserk/SOFA/src/modules/SofaGuiQt/src/sofa/gui/qt/resources:/home/daserk/SOFA/build [INFO] [runSofa] Loading automatically plugin list in /home/daserk/SOFA/build/lib/plugin_list.conf [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaSimpleFem.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaRigid.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaDeformable.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaObjectInteraction.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaMeshCollision.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaEngine.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaExplicitOdeSolver.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaImplicitOdeSolver.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaLoader.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralVisual.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGraphComponent.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralMeshCollision.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaBoundaryCondition.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralAnimationLoop.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralDeformable.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralEngine.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralExplicitOdeSolver.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralImplicitOdeSolver.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralLinearSolver.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralRigid.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralObjectInteraction.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralSimpleFem.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralTopology.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaTopologyMapping.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaUserInteraction.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaConstraint.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaGeneralLoader.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaExporter.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaSparseSolver.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaPreconditioner.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaHaptics.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaValidation.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaDenseSolver.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaNonUniformFem.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaOpenglVisual.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaMiscTopology.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaMiscExtra.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaMiscForceField.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaMiscEngine.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaMiscSolver.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaMiscFem.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaMiscMapping.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaMiscCollision.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libCImgPlugin.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libLMConstraint.so [INFO] [SofaPython3] Initializing with python version 3.8.10 (default, Jun 2 2021, 10:49:15) [GCC 9.4.0] [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/daserk/SOFA/SoftRobots/python' to sys.path [INFO] [SofaPython3] Added '/home/daserk/SOFA/build/lib/python3/site-packages' to sys.path [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSofaPython3.so [INFO] [PluginManager] Loaded plugin: /home/daserk/SOFA/build/lib/libSoftRobots.so [INFO] [QtViewer] OpenGL version: 3.1 Mesa 21.2.1 (X.Org) Controller initialized ########## SIG 11 - SIGSEGV: segfault ########## -> /home/daserk/SOFA/build/lib/libSofa.Helper.so.21.06.00(sofa::helper::BackTrace::dump()+0x20) [0x7f17776b9ad0] -> /home/daserk/SOFA/build/lib/libSofa.Helper.so.21.06.00(sofa::helper::BackTrace::sig(int)+0x364) [0x7f17776ba084] -> /lib/x86_64-linux-gnu/libc.so.6(+0x46210) [0x7f1776fcd210] -> /home/daserk/SOFA/build/lib/python3/site-packages/Sofa/Core.cpython-38-x86_64-linux-gnu.so(+0xa6b6b) [0x7f175258bb6b] -> /home/daserk/SOFA/build/lib/python3/site-packages/Sofa/Core.cpython-38-x86_64-linux-gnu.so(+0x66aaa) [0x7f175254baaa] -> /home/daserk/SOFA/build/lib/python3/site-packages/Sofa/Core.cpython-38-x86_64-linux-gnu.so(+0xdea8e) [0x7f17525c3a8e] -> /home/daserk/SOFA/build/lib/python3/site-packages/Sofa/Core.cpython-38-x86_64-linux-gnu.so(+0x60b0c) [0x7f1752545b0c] -> /lib/x86_64-linux-gnu/libpython3.8.so.1.0(+0x2a8738) [0x7f176f961738] -> /lib/x86_64-linux-gnu/libpython3.8.so.1.0(_PyObject_MakeTpCall+0xab) [0x7f176f961b1b] -> /lib/x86_64-linux-gnu/libpython3.8.so.1.0(+0x2a8de0) [0x7f176f961de0] -> /lib/x86_64-linux-gnu/libpython3.8.so.1.0(+0x74d6d) [0x7f176f72dd6d] -> /lib/x86_64-linux-gnu/libpython3.8.so.1.0(_PyEval_EvalFrameDefault+0x7d86) [0x7f176f735ef6] -> /lib/x86_64-linux-gnu/libpython3.8.so.1.0(+0x8006b) [0x7f176f73906b] -> /lib/x86_64-linux-gnu/libpython3.8.so.1.0(PyVectorcall_Call+0x60) [0x7f176f961830] -> /home/daserk/SOFA/build/lib/libSofaPython3.so(+0x617c1) [0x7f176fc707c1] -> /home/daserk/SOFA/build/lib/libSofaPython3.so(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>)+0x45c) [0x7f176fc6f9fc] -> /home/daserk/SOFA/build/lib/libSofaPython3.so(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&)+0x84) [0x7f176fc6f504] -> /home/daserk/SOFA/build/lib/libSofa.SimulationCore.so.21.06.00(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&)+0x9f) [0x7f177847e95f] -> /home/daserk/SOFA/build/lib/libSofa.SimulationCore.so.21.06.00(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&)+0x19b) [0x7f1778482b8b] -> ./runSofa() [0x4157db] -> /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf3) [0x7f1776fae0b3] -> ./runSofa() [0x410b1e] Segmentation fault (core dumped) daserk@pop-os:~/SOFA/build/bin$Hey @younesssss
I added a link to Pastebin in the main thread, but here’s the output.
root@577a9dff15ce:/builds/sofa/build/bin# ./runSofa [INFO] [runSofa] PluginRepository paths = /builds/sofa/build/plugins:/builds/sofa/build/lib [INFO] [runSofa] DataRepository paths = /builds/sofa/src/share:/builds/sofa/src/examples:/builds/sofa/build:/builds/sofa/build [INFO] [runSofa] GuiDataRepository paths = /builds/sofa/src/applications/projects/runSofa/resources:/builds/sofa/src/modules/SofaGuiQt/src/sofa/gui/qt/resources:/builds/sofa/build [INFO] [runSofa] Loading automatically plugin list in /builds/sofa/build/lib/plugin_list.conf.default [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaSimpleFem.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaRigid.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaDeformable.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaObjectInteraction.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaMeshCollision.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaEngine.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaExplicitOdeSolver.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaImplicitOdeSolver.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaLoader.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralVisual.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGraphComponent.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralMeshCollision.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaBoundaryCondition.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralAnimationLoop.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralDeformable.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralEngine.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralExplicitOdeSolver.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralImplicitOdeSolver.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralLinearSolver.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralRigid.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralObjectInteraction.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralSimpleFem.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralTopology.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaTopologyMapping.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaUserInteraction.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaConstraint.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaGeneralLoader.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaExporter.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaSparseSolver.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaPreconditioner.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaHaptics.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaValidation.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaDenseSolver.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaNonUniformFem.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaOpenglVisual.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaMiscTopology.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaMiscExtra.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaMiscForceField.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaMiscEngine.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaMiscSolver.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaMiscFem.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaMiscMapping.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libSofaMiscCollision.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libCImgPlugin.so [INFO] [PluginManager] Loaded plugin: /builds/sofa/build/lib/libLMConstraint.so [INFO] [GUIManager] lastUsedGUI.ini not found; using default GUI. QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' libGL error: MESA-LOADER: failed to retrieve device information libGL error: image driver extension not found libGL error: failed to load driver: radeon libGL error: failed to open /dev/dri/card0: No such file or directory libGL error: failed to load driver: radeonsi 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. [25:25:0707/232951.402424:ERROR:zygote_host_impl_linux.cc(89)] Running as root without --no-sandbox is not supported. See https://crbug.com/638180. [WARNING] [SofaSimulationGraph] the library has not been cleaned up (sofa::simulation::graph::cleanup() has never been called, see sofa/helper/init.h) [WARNING] [SofaSimulationCommon] the library has not been cleaned up (sofa::simulation::common::cleanup() has never been called, see sofa/helper/init.h) [WARNING] [SofaSimulationCore] the library has not been cleaned up (sofa::simulation::core::cleanup() has never been called, see sofa/helper/init.h) [WARNING] [SofaCore] the library has not been cleaned up (sofa::core::cleanup() has never been called, see sofa/helper/init.h) [WARNING] [SofaDefaultType] the library has not been cleaned up (sofa::defaulttype::cleanup() has never been called, see sofa/helper/init.h) [WARNING] [SofaHelper] the library has not been cleaned up (sofa::helper::cleanup() has never been called, see sofa/helper/init.h) root@577a9dff15ce:/builds/sofa/build/bin#Thank you, Stefan @sescaida . I will look into those resources and see what I can do. I will post any progress on my actuator implementation in this thread and tag you if I have any further questions.
Best regards,
Dante.Hello @Hugo
Thanks a lot for your reply.
I am doing research on the possibility of actuators embedded into soft materials for applications in robotics and space exploration. The two types of actuators I am looking into are actuators based on electroactive polymers (EAPs) (more specifically, dielectric elastomers DEAs) and ion polymer metal compounds (IPMCs).
IPMCs actuate in a kind of rolling fashion by the ionic attraction between the layers of the material (caused by a voltage between the electrodes). An example of its motion irl here.
DEAs can either be planar actuators or if rolled into a cylinder can act as a linear actuator and more generally can be shaped into a variety of geometries to produce different types of motion. They are usually the EAPs used in “artificial muscles” Here and here.
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