UNABLE TO RUN TUTORIAL CODES AND THEREFORE PROCEED FURTHER AND RUN MY OWN CODE PLEASE HELP #5021
Replies: 6 comments 13 replies
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Hi @discreet26 A lot for the components of your scene seems to be deprecated (MeshObjLoader, DefaultPipeline, DefaultContactManager all renamed) missing RequiredPlugin. What is your SOFA version please? Could detail your issue please? |
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hello thank you for your reply. i followed the exact steps as mentioned in the linux build, so if the page has not been updated, i have the version that was mentioned in the building sofa step. https://sofa-framework.github.io/doc/getting-started/build/linux/ |
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@hugtalbot https://github.com/SofaDefrost/SoftRobots/blob/master/examples/tutorials/PneunetGripper/pneunetgripper-tuto.md moreover I have been following this tutorial to go about but i am unable to understand how the mesh loading component works. I come from a rigid link modelling background of solidworks and creo so i am unable to figure out how to make a soft model on cgal or gmsh as suggested in various forums. |
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First we need information on your environment:
Moreover ould you copy/paste the full error trace you get when trying to launch it ? |
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my ubuntu version is 20.04 here is the code 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='Sofa.GL.Component.Rendering3D')
rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
rootNode.findData('gravity').value=[-9810, 0, 0];
rootNode.addObject('FreeMotionAnimationLoop')
rootNode.addObject('GenericConstraintSolver', tolerance=1e-12, maxIterations=10000)
rootNode.addObject('DefaultPipeline')
rootNode.addObject('BruteForceDetection')
rootNode.addObject('DefaultContactManager', response='FrictionContactConstraint', responseParams='mu=0.6')
rootNode.addObject('LocalMinDistance', name='Proximity', alarmDistance=5, contactDistance=1, angleCone=0.0)
rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765])
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 rootNodehere is the full error in terminal [INFO] [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckCollisionResponse, SceneCheckDeprecatedComponents, SceneCheckDuplicatedName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias, SceneCheckMultithreading]
[INFO] [SceneCheckerVisitor] Finished validating node "root".
[WARNING] [Node(root)] An animation loop is required, but has not been found. Add an animation loop in the root of your scene to fix this warning. The list of available animation loop components is: [AnimationLoopParallelScheduler, ConstraintAnimationLoop, DefaultAnimationLoop, FreeMotionAnimationLoop, MultiStepAnimationLoop, MultiTagAnimationLoop]. A component of type DefaultAnimationLoop will be automatically added for you.
[WARNING] [RealGUI] Global Bounding Box seems very small; Your viewer settings (based on the bbox) are likely invalid, switching to default value of [-1,-1,-1,1,1,1].This is caused by using component which does not implement properly the computeBBox function.You can remove this warning by manually forcing a value in the parameter bbox="minX minY minZ maxX maxY maxZ" in your root node
[WARNING] [BackgroundSetting(unnamed)] Could not read value for data field color: 0 0.168627 0.211765
[ERROR] [SofaPython3::SceneLoader] Unable to completely load the scene from file '/home/discreet/My-SOFA/build/bin/pneunetgripper.py'.
Python exception:
ValueError: Object type PythonScriptController<> was not created
The object 'PythonScriptController' is not in the factory.
But the following object(s) exist:
: SutureController (63% match)
At:
/home/discreet/My-SOFA/build/bin/pneunetgripper.py(35): createScene
[INFO] [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckCollisionResponse, SceneCheckDeprecatedComponents, SceneCheckDuplicatedName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias, SceneCheckMultithreading]
[DEPRECATED] [BruteForceDetection(BruteForceDetection)] SceneCheckDeprecatedComponents: This component has been DEPRECATED since SOFA v21.06 and will be removed in SOFA v21.12.
Please consider updating your scene as using deprecated component may result in poor performance and undefined behavior. If this component is crucial to you please report in a GitHub issue in order to reconsider this component for future re-integration.
[WARNING] [SceneCheckMissingRequiredPlugin] This scene is using component defined in plugins but is not importing the required plugins.
Your scene may not work on a sofa environment with different pre-loaded plugins.
To fix your scene and remove this warning you just need to cut & paste the following lines at the beginning of your scene:
root.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop') # Needed to use components [FreeMotionAnimationLoop]
root.addObject('RequiredPlugin', name='Sofa.Component.Collision.Detection.Algorithm') # Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,BruteForceDetection,CollisionPipeline]
root.addObject('RequiredPlugin', name='Sofa.Component.Collision.Detection.Intersection') # Needed to use components [LocalMinDistance]
root.addObject('RequiredPlugin', name='Sofa.Component.Collision.Response.Contact') # Needed to use components [CollisionResponse]
root.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [GenericConstraintSolver]
root.addObject('RequiredPlugin', name='Sofa.Component.Setting') # Needed to use components [BackgroundSetting]
root.addObject('RequiredPlugin', name='Sofa.Component.Visual') # Needed to use components [VisualStyle]
[WARNING] [SceneCheckUsingAlias] This scene is using hard coded aliases. Aliases can be very confusing, use with caution.
- CollisionPipeline: 1 created with alias "DefaultPipeline"
- CollisionResponse: 1 created with alias "DefaultContactManager"
[SUGGESTION] [SceneCheckMultithreading] This scene is using components implemented sequentially while a parallel implementation is available. Using the parallel implementation may improve the performances. Here is the list of sequential components in your scene and their parallel equivalent:
BVHNarrowPhase -> ParallelBVHNarrowPhase
BruteForceBroadPhase -> ParallelBruteForceBroadPhase
[INFO] [SceneCheckerVisitor] Finished validating node "root".
[DEPRECATED] [BruteForceDetection(BruteForceDetection)] As a replacement, use a BroadPhase component, such as [BruteForceBroadPhase, IncrSAP, ParallelBruteForceBroadPhase],
AND a NarrowPhase component, such as [BVHNarrowPhase, DirectSAPNarrowPhase, IncrSAP, ParallelBVHNarrowPhase, RayTraceNarrowPhase].
BruteForceBroadPhase and BVHNarrowPhase have been automatically added to your scene for backward compatibility.
[WARNING] [RealGUI] Global Bounding Box seems very small; Your viewer settings (based on the bbox) are likely invalid, switching to default value of [-1,-1,-1,1,1,1].This is caused by using component which does not implement properly the computeBBox function.You can remove this warning by manually forcing a value in the parameter bbox="minX minY minZ maxX maxY maxZ" in your root node |
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Which tutorial can't you run? |
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You mean this tutorial? https://github.com/SofaDefrost/SoftRobots/blob/master/examples/tutorials/CableGripper/details/cablegripper.py |
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Hi all, It is not possible to add PythonScriptController in SofaPython3, thank @hugtalbot for finding the problem and @discreet26 for opening the issue. We have updated the scene and examples for SofaPython3 as in: But the text in the markdown file "pneunetgripper-tuto.md" was not updated and thus still using the SofaPython2 API. We need to update it. So @discreet26, use the content of @discreet26, before we fix that in the meantime you can use the content of the files in: And feel free to send a pull request for fix in "pneunetgripper-tuto.md", any contribution is appreciated. Damien |
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hi all thank you for the replies and your help.
yes @alxbilger. i followed the tutorial upto the finger creation and that was succesful. now what i understand is that we need to duplicate the finger.py file to create 3 fingers for the gripper. these fingers are stored in the gripper.py file which are further called by cablegripper.py file. i have a new issue and it might be minor but i cant see through it atm. i am adding files of the same. @damienmarchal @hugtalbot feel free to look at it as well and comment if anything feels off.
# -*- coding: utf-8 -*-
import Sofa.Core
import Sofa.constants.Key as Key
from stlib3.physics.deformable import ElasticMaterialObject
from stlib3.physics.constraints import FixedBox
from softrobots.actuators import PullingCable
from stlib3.physics.collision import CollisionMesh
from splib3.loaders import loadPointListFromFile
class FingerController(Sofa.Core.Controller):
def __init__(self, *args, **kwargs):
Sofa.Core.Controller.__init__(self, args, kwargs)
self.cable = args[0]
self.name = "FingerController"
def onKeypressedEvent(self, e):
displacement = self.cable.CableConstraint.value[0]
if e["key"] == Key.plus:
displacement += 1.
elif e["key"] == Key.minus:
displacement -= 1.
if displacement < 0:
displacement = 0
self.cable.CableConstraint.value = [displacement]
def Finger(parentNode=None, name="Finger",
rotation=[0.0, 0.0, 0.0], translation=[0.0, 0.0, 0.0],
fixingBox=[-5.0, 0.0, 0.0, 10.0, 15.0, 20.0], pullPointLocation=[0.0, 0.0, 0.0]):
finger = parentNode.addChild(name)
eobject = ElasticMaterialObject(finger,
volumeMeshFileName="/home/discreet/My-SOFA/build/bin/finger.vtk",
poissonRatio=0.3,
youngModulus=18000,
totalMass=0.5,
surfaceColor=[0.0, 0.8, 0.7, 1.0],
surfaceMeshFileName="/home/discreet/My-SOFA/build/bin/finger.stl",
rotation=rotation,
translation=translation)
finger.addChild(eobject)
FixedBox(eobject, atPositions=fixingBox, doVisualization=True)
cable = PullingCable(eobject,
"PullingCable",
pullPointLocation=pullPointLocation,
rotation=rotation,
translation=translation,
cableGeometry=loadPointListFromFile("/home/discreet/My-SOFA/build/bin/cable.json"));
eobject.addObject(FingerController(cable))
CollisionMesh(eobject, name="CollisionMesh",
surfaceMeshFileName="/home/discreet/My-SOFA/build/bin/finger.stl",
rotation=rotation, translation=translation,
collisionGroup=[1, 2])
CollisionMesh(eobject, name="CollisionMeshAuto1",
surfaceMeshFileName="/home/discreet/My-SOFA/build/bin/fingerCollision_part1.stl",
rotation=rotation, translation=translation,
collisionGroup=[1])
CollisionMesh(eobject, name="CollisionMeshAuto2",
surfaceMeshFileName="/home/discreet/My-SOFA/build/bin/fingerCollision_part2.stl",
rotation=rotation, translation=translation,
collisionGroup=[2])
return finger
def createScene(rootNode):
from stlib3.scene import MainHeader, ContactHeader
MainHeader(rootNode, gravity=[0.0, -981.0, 0.0], plugins=["SoftRobots"])
ContactHeader(rootNode, alarmDistance=4, contactDistance=3, frictionCoef=0.08)
rootNode.VisualStyle.displayFlags = "showBehavior showCollisionModels"
Finger(rootNode, translation=[1.0, 0.0, 0.0])
return rootNode2- gripper.py file is as follows # -*- coding: utf-8 -*-
import os
os.system("python3 finger.py")
def Gripper(parentNode=None):
gripper = parentNode.addChild("gripper")
f1 = finger(gripper, "Finger1",
rotation=[0, 0, 105],
translation=[20.0, 0.0, 0.0],
fixingBox=[-20, -10, 0, 20, 10, 15],
pullPointLocation=[3, 10.5, 3])
f2 = finger(gripper, "Finger2",
rotation=[180, 0, 65],
translation=[-10.0, 0.0, -4.0],
fixingBox=[-20, -10, -30, 20, 10, 0],
pullPointLocation=[3, 10.5, -7])
f3 = finger(gripper, "Finger3",
rotation=[180, 0, 65],
translation=[-10.0, 0.0, 34.0],
fixingBox=[-20, -10, 0, 20, 10, 50],
pullPointLocation=[3, 10.5, 31.5])
gripper.addObject(GripperController([f1, f2, f3]))
return gripper
def createScene(rootNode):
"""To test the content of this file, try:
>>> runSofa gripper.py
"""
from stlib3.scene import MainHeader, ContactHeader
MainHeader(rootNode, gravity=[0.0, -981.0, 0.0], plugins=["SoftRobots"])
ContactHeader(rootNode, alarmDistance=4, contactDistance=3, frictionCoef=0.08)
rootNode.VisualStyle.displayFlags = "showBehavior showCollisionModels"
Gripper(rootNode)
return rootNodenow i am getting this error on terminal- what could be the fix? please guide [ERROR] [SofaPython3::SceneLoader] Unable to completely load the scene from file '/home/discreet/My-SOFA/build/bin/gripper.py'.
Python exception:
NameError: name 'finger' is not defined
At:
/home/discreet/My-SOFA/build/bin/gripper.py(9): Gripper
/home/discreet/My-SOFA/build/bin/gripper.py(41): createScene |
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hello all @alxbilger @damienmarchal @hugtalbot I am getting this error when i open the gripper.py file on my system. Unable to completely load the scene from file '/home/discreet/My-SOFA/build/bin/gripper.py'. Python exception:
NameError: name 'finger' is not defined
At:
/home/discreet/My-SOFA/build/bin/gripper.py(9): Gripper
/home/discreet/My-SOFA/build/bin/gripper.py(41): createScenecan someone point out the mistake so i can fix it please. |
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Hi @discreet26, This is a python problem. In gripper.py, in the second line you are starting, using os.system, an external python3 interpreter to execute finger.py. os.system("python3 finger.py")I think this is not what you want to do because in that case finger.py will be executed out of Sofa and finger.py will not "visible". import finger
## then
finger.finger(... all the parameters )from finger import finger # read it as ... from finger.py import the function finger.
## then
finger.finger(... all the parameters ) |
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`# -*- coding: utf-8 -*-
import os
import finger
from finger import finger
def gripper(parentNode=None):
gripper = parentNode.addChild("gripper")
f1 = finger(gripper, "finger1",
rotation=[0, 0, 105],
translation=[20.0, 0.0, 0.0],
fixingBox=[-20, -10, 0, 20, 10, 15],
pullPointLocation=[3, 10.5, 3])
f2 = finger(gripper, "finger2",
rotation=[180, 0, 65],
translation=[-10.0, 0.0, -4.0],
fixingBox=[-20, -10, -30, 20, 10, 0],
pullPointLocation=[3, 10.5, -7])
f3 = finger(gripper, "finger3",
rotation=[180, 0, 65],
translation=[-10.0, 0.0, 34.0],
fixingBox=[-20, -10, 0, 20, 10, 50],
pullPointLocation=[3, 10.5, 31.5])
gripper.addObject(GripperController([f1, f2, f3]))
return gripper
def createScene(rootNode):
"""To test the content of this file, try:
>>> runSofa gripper.py
"""
from stlib3.scene import MainHeader, ContactHeader
MainHeader(rootNode, gravity=[0.0, -981.0, 0.0], plugins=["SoftRobots"])
ContactHeader(rootNode, alarmDistance=4, contactDistance=3, frictionCoef=0.08)
rootNode.VisualStyle.displayFlags = "showBehavior showCollisionModels"
gripper(rootNode)
return rootNode##hello @damienmarchal thank you so much for the reply. I am new to coding so these errors might be silly for you. Here is the updated code and here is the new error [ERROR] [SofaPython3::SceneLoader] Unable to completely load the scene from file '/home/discreet/My-SOFA/build/bin/gripper.py'.
Python exception:
ImportError: cannot import name 'finger' from 'finger' (/home/discreet/My-SOFA/build/bin/finger.py)
At:
/home/discreet/My-SOFA/build/bin/gripper.py(4): <module>
<frozen importlib._bootstrap>(219): _call_with_frames_removed
<frozen importlib._bootstrap_external>(848): exec_module
<string>(6): <module> |
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hello @damienmarchal kindly discard my last comment. your edit seemed to help and i can succesfully load the gripper.py scene on my GUI. thank you so much all for all the help. will update once i have the tutorial fully functional. kindly keep this discussion open. |
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@damienmarchal sorry to bother and thank you as well. I can now load the cablegripper.py scene succesfully but the issue now is i cannot seem to fine control the fingers of the gripper to grab the cube using ctrl+up ctrl+down... commands. when i click animate, gripper quickly moves and stops without grabbing the cube. how should i fix that? |
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@damienmarchal wanted to ask if the pneunetgripper-tuto.md file has been updated? this one https://github.com/SofaDefrost/SoftRobots/blob/master/examples/tutorials/PneunetGripper/pneunetgripper-tuto.md. and can i go ahead and follow this? thanks in advance |
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another question is how do i save the data that is collected during the simulation? where is it stored and how to access it? |
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@alxbilger @damienmarchal @hugtalbot @bakpaul how can I analyse data from the simulations? please help. i made a simple scene with a box falling from a height on the floor and now i want to find the force it applies on the floor when it hits it. where is the data stored? and how do i find all types of data such as velocity at every instant of the falling box and direction of fall and graphs of the same? please help. |
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@alxbilger @hugtalbot @bakpaul here is the code in question, please guide
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