TUTORIAL OF pneunet GRIPPER NOT RUNNING ON SOFA

[discreet26]

Hello i just started using sofa and I am a total newbie. I tried running the soft pneunet gripper on sofa but a few plugins are not available it seems. Due to this i am feeling demotivated to continue on my simulations as finding the correct plugins seems like a task.

rootNode.addObject('RequiredPlugin', name='CSparseSolvers')
rootNode.addObject('RequiredPlugin', name='SofaOpenglVisual')

these are the plugins and I am also attaching the full code.
I have installed quite a few plugins but i can't seem to run the tutorial file. please help me.

import Sofa
import math
import os

youngModulusFingers = 500
youngModulusStiffLayerFingers = 1500

radius = 70
angle1 = 120*math.pi/180  # Angle between 1st and 2nd finger in radian
angle2 = 240*math.pi/180  # Angle between 1st and 3rd finger in radian
translateFinger1 = '0 0 0'
translateFinger2 = '0 ' + str(radius + radius*math.sin(angle1-math.pi/2)) + ' ' + str(radius*math.cos(angle1-math.pi/2))
translateFinger3 = '0 ' + str(radius + radius*math.sin(angle2-math.pi/2)) + ' ' + str(radius*math.cos(angle2-math.pi/2))
translations= [translateFinger1,translateFinger2, translateFinger3]
angles=[0,angle1, angle2]

def createScene(rootNode):
    rootNode.addObject('RequiredPlugin', name='SoftRobots')
    rootNode.addObject('RequiredPlugin', name='SofaPython3')
    rootNode.addObject('RequiredPlugin', name='CSparseSolvers')
    rootNode.addObject('RequiredPlugin', name='SofaOpenglVisual')

    # Set a bounding box for the scene
    rootNode.findData('bbox').value = [-200, -200, -200, 200, 200, 200]

    # Adding the animation loop component
    rootNode.addObject('FreeMotionAnimationLoop')

    rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
    rootNode.findData('gravity').value = [-9810, 0, 0]
    rootNode.addObject('GenericConstraintSolver', tolerance=1e-12, maxIterations=10000)
    rootNode.addObject('DefaultPipeline')
    rootNode.addObject('BVHNarrowPhase')
    rootNode.addObject('BruteForceBroadPhase')
    rootNode.addObject('DefaultContactManager', response='FrictionContact', responseParams='mu=0.6')
    rootNode.addObject('LocalMinDistance', name='Proximity', alarmDistance=5, contactDistance=1, angleCone=0.0)

    rootNode.addObject('BackgroundSetting', color=[0, 0.5, 0.75, 1])
    rootNode.addObject('OglSceneFrame', style='Arrows', alignment='TopRight')
    rootNode.addObject('PythonScriptController', filename='pythonControllers/wholeGripperController.py', classname='controller')

    planeNode = rootNode.addChild('Plane')
    planeNode.addObject('MeshObjLoader', name='loader', filename='data/mesh/floorFlat.obj', triangulate=True, rotation=[0, 0, 270], scale=10, translation=[-122, 0, 0])
    planeNode.addObject('MeshTopology', src='@loader')
    planeNode.addObject('MechanicalObject', src='@loader')
    planeNode.addObject('TriangleCollisionModel', simulated=False, moving=False)
    planeNode.addObject('LineCollisionModel', simulated=False, moving=False)
    planeNode.addObject('PointCollisionModel', simulated=False, moving=False)
    planeNode.addObject('OglModel',name='Visual', src='@loader', color=[1, 0, 0, 1])

    cube = rootNode.addChild('cube')
    cube.addObject('EulerImplicitSolver', name='odesolver')
    cube.addObject('SparseLDLSolver', name='linearSolver')
    cube.addObject('MechanicalObject', template='Rigid3', position=[-100, 70, 0, 0, 0, 0, 1])
    cube.addObject('UniformMass', totalMass=0.001)
    cube.addObject('UncoupledConstraintCorrection')

    #collision
    cubeCollis = cube.addChild('cubeCollis')
    cubeCollis.addObject('MeshObjLoader', name='loader', filename='data/mesh/smCube27.obj', triangulate=True,  scale=6)
    cubeCollis.addObject('MeshTopology', src='@loader')
    cubeCollis.addObject('MechanicalObject')
    cubeCollis.addObject('TriangleCollisionModel')
    cubeCollis.addObject('LineCollisionModel')
    cubeCollis.addObject('PointCollisionModel')
    cubeCollis.addObject('RigidMapping')

    #visualization
    cubeVisu = cube.addChild('cubeVisu')
    cubeVisu.addObject('MeshObjLoader', name='loader', filename='data/mesh/smCube27.obj')
    cubeVisu.addObject('OglModel', name='Visual', src='@loader', color=[0.0, 0.1, 0.5], scale=6.2)
    cubeVisu.addObject('RigidMapping')

    for i in range(3):
        ##########################################
        # Finger Model                           #
        ##########################################
        finger = rootNode.addChild('finger'+str(i+1))
        finger.addObject('EulerImplicitSolver', name='odesolver', rayleighStiffness=0.1, rayleighMass=0.1)
        finger.addObject('SparseLDLSolver', name='preconditioner')

        finger.addObject('MeshVTKLoader', name='loader', filename='data/mesh/pneunetCutCoarse.vtk', rotation=[360 - angles[i]*180/math.pi, 0, 0], translation = translations[i])
        finger.addObject('MeshTopology', src='@loader', name='container')

        finger.addObject('MechanicalObject', name='tetras', template='Vec3', showIndices=False, showIndicesScale=4e-5)
        finger.addObject('UniformMass', totalMass= 0.04)
        finger.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.3,  youngModulus=youngModulusFingers, drawAsEdges=True)

        finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20])
        finger.addObject('BoxROI', name='boxROISubTopo', box=[-100, 22.5, -8, -19, 28, 8], strict=False)
        if i == 0:
            finger.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
        else:
            finger.addObject('RestShapeSpringsForceField', points='@../finger1/boxROI.indices', stiffness=1e12, angularStiffness=1e12)

        finger.addObject('LinearSolverConstraintCorrection', solverName='preconditioner')

        ##########################################
        # Sub topology                         #
        ##########################################
        modelSubTopo = finger.addChild('modelSubTopo')
        if i == 0:
            modelSubTopo.addObject('TetrahedronSetTopologyContainer', position='@loader.position', tetrahedra='@boxROISubTopo.tetrahedraInROI', name='container')
        else:
            modelSubTopo.addObject('TetrahedronSetTopologyContainer', position='@loader.position', tetrahedra='@../../finger1/boxROISubTopo.tetrahedraInROI', name='container')
        modelSubTopo.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.3,  youngModulus=str(youngModulusStiffLayerFingers-youngModulusFingers))


        ##########################################
        # Constraint                             #
        ##########################################
        cavity = finger.addChild('cavity')
        cavity.addObject('MeshSTLLoader', name='loader', filename='data/mesh/pneunetCavityCut.stl',translation = translations[i], rotation=[360 - angles[i]*180/math.pi, 0, 0])
        cavity.addObject('MeshTopology', src='@loader', name='topo')
        cavity.addObject('MechanicalObject', name='cavity')
        cavity.addObject('SurfacePressureConstraint', name='SurfacePressureConstraint', template='Vec3', value=0.0001, triangles='@topo.triangles', valueType='pressure')
        cavity.addObject('BarycentricMapping', name='mapping',  mapForces=False, mapMasses=False)

        ##########################################
        # Collision                           #
        ##########################################

        collisionFinger = finger.addChild('collisionFinger')
        collisionFinger.addObject('MeshSTLLoader', name='loader', filename='data/mesh/pneunetCut.stl', translation = translations[i], rotation=[360 - angles[i]*180/math.pi, 0, 0])
        collisionFinger.addObject('MeshTopology', src='@loader', name='topo')
        collisionFinger.addObject('MechanicalObject', name='collisMech')
        collisionFinger.addObject('TriangleCollisionModel', selfCollision=False)
        collisionFinger.addObject('LineCollisionModel', selfCollision=False)
        collisionFinger.addObject('PointCollisionModel', selfCollision=False)
        collisionFinger.addObject('BarycentricMapping')


        ##########################################
        # Visualization                       #
        ##########################################
        modelVisu = finger.addChild('visu')
        modelVisu.addObject('MeshSTLLoader', name='loader', filename='data/mesh/pneunetCut.stl')
        modelVisu.addObject('OglModel', src='@loader', color=[0.7, 0.7, 0.7, 0.6], translation = translations[i], rotation=[360 - angles[i]*180/math.pi, 0, 0])
        modelVisu.addObject('BarycentricMapping')

    return rootNode

[hugtalbot]

Hi @discreet26

Which version of SOFA are you using please?

[discreet26]

thank you for the reply

my ubuntu version is 20.04
my sofa version is 24.12.99 compiled using the steps mentioned in the linux sofa install documentation.https://sofa-framework.github.io/doc/getting-started/build/linux/
python version 3.8.10
and regarding the tutorial, i am following this link https://github.com/SofaDefrost/SoftRobots/tree/master/examples/tutorials/PneunetGripper. I simply opened this link and copied the final code at the end from the pneunetgripper.md file.