[Hugo]

Hi @davacas

Hmmm I think this is a topic that @epernod would tackle better than I do..
We’ll get back to you soon @davacas

Hugo

[Hugo]

Hi @anthony @sirajissani @aryakarani

This topic is crowded! Sorry to read that you are all three struggling on this topic.
I am unsure about the compatibility of STLIB and SofaPython3.

Let me poke the experts: @eulaliecoevoet @damien-marchaluniv-lille1-fr @guillaumeparan

Hugo

[Hugo]

Hi @fernandov

I am not sure if there is actually recent binaries for MacOS using SoftRobots etc.
Could you confirm this @guillaumeparan?

Thanks

Hugo

[Hugo]

Ser @c4rs200

Welcome to SOFA then, we are glad to accompany you during your master thesis!

It sounds like a problem from SOFA. We will take a look at it and get back to you. Thanks for letting us know.
Best

Hugo

[Hugo]

Hi @anthony

Have you followed Paul’s and my advice?
If it does not solve your issue, could you – step by step – describe what is the problem when configuring/compiling/running SOFA ?

Best

Hugo

[Hugo]

Ciao @chiarasapo

Welcome to SOFA and its open forum!

The most straightforward way to do it would be to clone SOFA from sources and compile the entire SOFA project (with the CMake option PLUGIN_GEOMAGIC activated). The documentation page for compilation on Windows is available here.

Is this what you did?

Hugo

[Hugo]

I just marked it as solved.
Next time @essembly, do not hesitate to close the topic when you get the needed reply 😉

Hugo

[Hugo]

Hi

Welcome on the SOFA forum and thank you for using SOFA in your soft-robotic application!

The following error :
[ERROR] [DAGSimulation(Simulation)] extension (pyscn) not handled
shows that you are trying to load a *.pyscn file while the SofaPython plugin is not loaded. Therefore, make sure you have it loaded.

Which version of SOFA are you using?

Note that some scene have the extension *.pyscn (needing SofaPython which corresponds to the old python2.7) and some have the extension *.py3scn (needing SofaPython3 which corresponds to the old python3.7).

Best

Hugo

PS: next time do not hesitate to open your own forum topic

[Hugo]

Hi @brunob81hk

Any update?
Best wishes,

Hugo

[Hugo]

Hey @qdyuan4619

This recent documentation explaining what is, how to install, how to use SofaPython3 should be your solution.

In your case, before compiling SofaPython3 make sure to have the SOFA_ROOT variable defined, as explained here.

Best wishes,

Hugo

[Hugo]

Hey @quantanovo

I am so sorry for the delay of my reply! I am having hard time to reply all questions, sorry for keeping you waiting.

1. The SurfacePressureForceField is an external force applied to your object, applying a specific force on the surface, which is spread over the surface points depending on the surface area.
On the other hand, the SurfacePressureConstraint is a BaseConstraint which have to be solved using the Lagrange Multiplier method. This component will therefore constraint the object (find the according forces) to deform so that the pressure inside the volume is ensured.

The difference of forces remind me of this topic. The forces resulting from the constraint resolution (forces ensuring that the pressure inside the volume is conserved) with SurfacePressureConstraint are affected be the time steps. It looks like there is a problem here. Could you try to change the time step and see if it affects the ratio of force (1.5/150, if you change the time step with dt=0.001 should become 0.15/150)

could you keep me posted ?

2. Regarding the sliding, have you tried increasing again the mu friction coefficient to see it this creates the desired effect?

Best wishes,

Hugo

[Hugo]

Ok @mohshaw
To use SofaPython, SoftRobots, STLIB with SOFA, why not using the binary from Defrost here
They are including all these plugins.

If this is not something you want, you described above that you downloaded the v20.12 binary release of SOFA. It includes already the SofaPython plugin in plugins/SofaPython. You should therefore be able to load it with no problem. Then you will need to make sure that you compile the SoftRobots and STLIB against the SOFA binary.

Best

Hugo

[Hugo]

Hi @bill757

Modeling a object stable on the surface (due to a high friction) and with the same coefficient you should be able to grasp it.

You can have a look at the example : FrictionContact.scn

Using python, you should be able to control (change) the position/velocity of the platform by accessing the position/velocity data field of the rigid point (I guess the platform is a rigid object).

Best,

Hugo

[Hugo]

Indeed @mohshaw
To use SofaPython, simply de-activate the SofaPython3 plugin in CMake. It should configure and generate fine.
You said it did not work? what is the error in this case?

Hugo

[Hugo]

Hi @mohshaw

Ok so you are compiling from sources.
Could you run the following command from the build/ directory:

cmake -DPLUGIN_SOFAPYTHON:BOOL=TRUE ../src

and then recompile (I guess it was built using make

Best

Hugo

[Hugo]

You forgot one important question :
– did you compile it from the sources? like maybe in ~/Repos/Code/sofa/src/ ?

Hugo

[Hugo]

Hi @mohshaw

I can try to provide support on older versions of SOFA, although using ROS would work (through Python) with the latest SOFA version.

Regarding the SOFA you have on your machine:
– did you compile it from the sources?
– does it have SoftRobot compiled?
in other words what do you have your build/bin and build/lib repositories?
– when you wrote “I can’t add them from the gui” what was the exact error?

Hugo

[Hugo]

Hi @mohshaw

Ok then, I would go for taking the latest SOFA version.
You can download it here: https://www.sofa-framework.org/download/

Once installed, You will be able to find and load the plugins using the PluginManager as suggested earlier.

Best wishes,

Hugo

[Hugo]

What link did you use to download SOFA and when did you download it?

[Hugo]

Dear @xmfuwu1

Have you checked my above link?
To understand at best SOFA, I advise:
– to watch our Tutorials on YouTube, especially this recording of one of our training session “Introduction to SOFA”
– follow the online documentation

If you are interested, and once you covered these materials, I would be glad to chat with you and guide you for the implementation part. Would this be of interest for you?

Best,

Hugo

[Hugo]

What version of SOFA and from where did you download it?

Hugo

[Hugo]

Hi @mohshaw

Yes this is one way of doing it indeed! You can load all the lib***.so you need this way.
Best,

Hugo

[Hugo]

Anytime @sergiopm23
Looking forward to hearing from you!

Hugo

[Hugo]

Dear @xmfuwu1

It’s a nice initiative!
As a new mechanical model, it should be implemented as a forcefield in SOFA. We could definitely guide you for the implementation.

Let me know whether you are interested, we could chat about this further together.
Best wishes,

Hugo

[Hugo]

This is (as you noticed) very related to this topic

[Author]

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