[Cai]

Hi, I am new to sofa and Softrobot plugin. I have installed both successfully. They are located in /home/cmx/sofa/src/applications/plugins. I added the following command in the /home/cmx/sofa/src/applications/plugins/CMakeLists.txt to complie the plugins and succeeded.

set(SOFA_BUILD_METIS ON CACHE BOOL "Compile SOFA with Metis support by default as per dependency for the SoftRobots plugin." FORCE)
set(PLUGIN_SOFAPYTHON ON CACHE BOOL "Compile the SofaPython plugin by default as per dependency for the SoftRobots plugin." FORCE)
sofa_add_plugin(STLIB STLIB ON)
sofa_add_plugin(SoftRobots SoftRobots ON)

and I want to run :

mx@cmx-Lenovo-IdeaPad-Y510P:~/sofa/build/bin$ ./runSofa ../../src/applications/plugins/SoftRobots/docs/tutorials/CableGripper/details$ python grippercontroller.py
Traceback (most recent call last):
  File "grippercontroller.py", line 2, in <module>
    import Sofa
ImportError: No module named Sofa

I have some doubts:
1. how to run .py document with Sofa modules, it always can not find Sofa’s path?
2. How to import the correct path according to my file directory
Thanks

[Cai]

great

[Cai]

Hi， @younesssss，the problem has been solved under your valuable archives. I pay more attention to the modelling and control of soft robot, and how I can get more information to learn it well, for example, detailed tutorials. Thanks!

[Cai]

Hi，@younesssss，I use the first method: Switch SOFA v.20.06 with the SOFA master then don’t need to change SoftRobots. Some errors are shown on the #17024. If you have any good ideas, please let me know. Thanks

[Cai]

Dear Sescaida, I want to learn more about the modelling and control for soft robots, so i use softrobots plugin. Now, i use the unstable version of SOFA (git clone -b master https://github.com/sofa-framework/sofa.git sofa/src), and i have complied all documents successfully. When I run ./runsofa in the terminal(cmx@cmx-Lenovo-IdeaPad-Y510P:~/sofa/build$ ./bin/runSof). The QT window shows nothing, and it is black. Some errors are as follows:

cmx@cmx-Lenovo-IdeaPad-Y510P:~/sofa/build$ ./bin/runSofa
[INFO]    [runSofa] PluginRepository paths = /home/cmx/sofa/build/plugins:/home/cmx/sofa/build/lib
[INFO]    [runSofa] DataRepository paths = /home/cmx/sofa/src/share:/home/cmx/sofa/src/examples
[INFO]    [runSofa] GuiDataRepository paths = /home/cmx/sofa/src/applications/projects/runSofa/resources:/home/cmx/sofa/src/modules/SofaGuiQt/src/sofa/gui/qt/resources
[INFO]    [runSofa] Loading automatically plugin list in /home/cmx/sofa/build/lib/plugin_list.conf.default
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSofaSparseSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSofaPreconditioner.so
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSofaHaptics.so
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSofaValidation.so
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSofaDenseSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSofaNonUniformFem.so
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSofaOpenglVisual.so
[INFO]    [SofaPython] Added '/home/cmx/STLIB/python' to sys.path
[INFO]    [SofaPython] Added '/home/cmx/sofa/src/applications/plugins/SofaPython/python' to sys.path
[INFO]    [SofaPython] Added '/home/cmx/SoftRobots/python' to sys.path
[INFO]    [SofaPython] Added '/home/cmx/sofa/src/applications/plugins/SofaTest/python' to sys.path
[WARNING] [PythonEnvironment] No python dir found in /home/cmx/sofa/build
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSofaPython.so
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSofaExporter.so
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libCImgPlugin.so
[INFO]    [PluginManager] Loaded plugin: /home/cmx/sofa/build/lib/libSofaMiscCollision.so
The constructor with a QGLFormat is deprecated, use the regular contructor instead.
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
QOpenGLWidget: Failed to create context
QOpenGLWidget: Failed to create context
QOpenGLWidget: Failed to create context
[INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckDuplicatedName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias]
[INFO]    [SceneCheckerVisitor] Finished validating node "root".
QOpenGLWidget: Failed to create context
composeAndFlush: makeCurrent() failed
composeAndFlush: makeCurrent() failed
composeAndFlush: makeCurrent() failed
composeAndFlush: makeCurrent() failed
composeAndFlush: makeCurrent() failed
composeAndFlush: makeCurrent() failed

[Cai]

Here are some errors about build Softrobots using ninja, please give me some help, thanks.
I add Softrobots plugin andS TLIB plugin in the direction:/home/cmx/sofa/src/applications/plugins/
and in the CMakelists:
sofa_add_plugin(applications/plugins/STLIB STLIB)
sofa_add_plugin(applications/plugins/SoftRobots SoftRobots)
ERRORS:
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:129:5: error: use of undeclared identifier ‘d_componentState’; did you mean ‘d_componentstate’?
d_componentState = ComponentState::Invalid;
^~~~~~~~~~~~~~~~
d_componentstate
/home/cmx/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/Base.h:533:29: note: ‘d_componentstate’ declared here
Data< ComponentState > d_componentstate; ///< the object state
^
In file included from /home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.cpp:36:
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:149:5: error: use of undeclared identifier ‘d_componentState’; did you mean ‘d_componentstate’?
d_componentState = ComponentState::Valid;
^~~~~~~~~~~~~~~~
d_componentstate
/home/cmx/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/Base.h:533:29: note: ‘d_componentstate’ declared here
Data< ComponentState > d_componentstate; ///< the object state
^
In file included from /home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.cpp:36:
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:156:8: error: unknown type name ‘d_componentState’; did you mean ‘ComponentState’?
if(d_componentState != ComponentState::Valid)
^~~~~~~~~~~~~~~~
ComponentState
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:69:32: note: ‘ComponentState’ declared here
using sofa::core::objectmodel::ComponentState;
^
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:156:25: error: expected unqualified-id
if(d_componentState != ComponentState::Valid)
^
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:183:8: error: unknown type name ‘d_componentState’; did you mean ‘ComponentState’?
if(d_componentState != ComponentState::Valid)
^~~~~~~~~~~~~~~~
ComponentState
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:69:32: note: ‘ComponentState’ declared here
using sofa::core::objectmodel::ComponentState;
^
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:183:25: error: expected unqualified-id
if(d_componentState != ComponentState::Valid)
^
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:316:8: error: unknown type name ‘d_componentState’; did you mean ‘ComponentState’?
if(d_componentState != ComponentState::Valid)
^~~~~~~~~~~~~~~~
ComponentState
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:69:32: note: ‘ComponentState’ declared here
using sofa::core::objectmodel::ComponentState;
^
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:316:25: error: expected unqualified-id
if(d_componentState != ComponentState::Valid)
^
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:363:8: error: unknown type name ‘d_componentState’; did you mean ‘ComponentState’?
if(d_componentState != ComponentState::Valid)
^~~~~~~~~~~~~~~~
ComponentState
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:69:32: note: ‘ComponentState’ declared here
using sofa::core::objectmodel::ComponentState;
^
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:363:25: error: expected unqualified-id
if(d_componentState != ComponentState::Valid)
^
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:759:8: error: unknown type name ‘d_componentState’; did you mean ‘ComponentState’?
if(d_componentState != ComponentState::Valid)
^~~~~~~~~~~~~~~~
ComponentState
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:69:32: note: ‘ComponentState’ declared here
using sofa::core::objectmodel::ComponentState;
^
/home/cmx/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/controller/AnimationEditor.inl:759:25: error: expected unqualified-id
if(d_componentState != ComponentState::Valid)
^
12 errors generated.
ninja: build stopped: subcommand failed.

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