sofadefrost / stlib Goto Github PK

I am trying to build the library using cmake on windows, but I get the following error every time I try to:
cmake CMake Error at CMakeLists.txt:19 (sofa_set_python_directory): Unknown CMake command "sofa_set_python_directory".
I tried adding the SofaMacros.cmake, but with no luck.

When trying to load a scene with stlib3.scene the above error shows up. The SOFA framework version is 21.12.00 and the plugin has been downloaded from GitHub and unzipped in the SOFA plugins directory. Is there something that I am missing?

Hi,

I followed the tutorial of DefrostSofaBundle/plugins/SoftRobots/docs/sofapython3/tutorials/CableGripper/cablegripper-tuto.md to create my own cube&floor scene, and I figured out that the tutorial is out-dated in terms of the VisualModel.

From the Line# 54 The tutorial asked me to modify the */CableGripper/myproject/cablegripper.py file like the following:

from stlib3.visuals import ShowGrid
from stlib3.physics.rigid import Floor
from stlib3.physics.rigid import Cube

def createScene(rootNode):
    """This is my first scene"""
    ShowGrid(rootNode)

    Floor(rootNode,
          translation=[0.0,0.0,0.0],
          isAStaticObject=True)

    Cube(rootNode,
          translation=[0.0,0.0,0.0])


    return rootNode

However, the terminal log shows that there is no such module called ShowGrid in the visuals package

[ERROR]   [SofaPython3::SceneLoader] Unable to completely load the scene from file '/home/jeremy/DefrostSofaBundle/plugins/SoftRobots/docs/sofapython3/tutorials/CableGripper/myproject/cablegripper.py'.  
Python exception:   
  ImportError: cannot import name 'ShowGrid' from 'stlib3.visuals' (/home/jeremy/DefrostSofaBundle/plugins/STLIB/lib/python3/site-packages/stlib3/visuals/__init__.py)

Hence, I checked with the source code here and think the right expression based on the current structure of stlib3 should be like this:

from stlib3.visuals.visualmodel import VisualModel
def createScene(rootNode):
    VisualModel.showGrid(rootNode)

Hope this might help. Thank you.

As in the title, once I try to launch the tripod-tutorial.py I get the following message:

[ERROR] [SofaPython3::SceneLoader] Unable to completely load the scene from file 'C:\Users*******\Desktop\aaasofa\tripod-tuto.py'.
Python exception:
ModuleNotFoundError: No module named 'stlib3'

At:
C:\Users******\Desktop\aaasofa\tripod-tuto.py(1):
(219): _call_with_frames_removed
(848): exec_module
(6):

What should I do? I checked and the stlib3 folder is where it should be (/plugins/STLIB/lib/python3/site-packages/)

Hi, when the plugin is loaded I had to add the path to stlib manually (disclaimer: I use the binary distributed by the soft robot plugin). In particular the plugin folder does not contain something like lib/python2.7/site-packages

A recent discussion I had with SOFA maintainers @hugtalbot and @epernod highlighted that some modifications may be required to the ContactHeader component.

More precisely, apparently the RuleBasedContactManager should be replaced with a CollisionResponse.

It seems simple enough that I can make a PR if you think that's relevant.

There is a problem in the new implementation of getOrientedBoxFromTransorm, it creates a bug on step3 of the TRIPOD tutorial

67c1d51#r32599793

@damienmarchal could you have a look at it ?

euler Rotation is a vec3
rotation is a quat

Why are you mixing them ?
The good design, I think, should be to provide the user a function that transforms euler to quat...but then, inside the functions, always use quat...

The scaling is not applied to the visual model and the collision mesh. Only the 'forcefield' is scaled properly.

def createScene(rootNode):
    from stlib.scene import MainHeader, ContactHeader    
    MainHeader(rootNode, gravity=[0.0,-981.0,0.0])
    ContactHeader(rootNode, alarmDistance=15, contactDistance=10)
    
    from stlib.scene import Scene
    scene=Scene(rootNode)
    from splib.objectmodel import setData
    setData(scene.VisualStyle, displayFlags="showBehavior showForceFields")
    
    from stlib.scene import Node
    obj = Node(rootNode, "Mon object")
    
    from stlib.physics.deformable import ElasticMaterialObject
    eobject = ElasticMaterialObject(obj,
                                   volumeMeshFileName="test.vtk",
                                   poissonRatio=0.3,
                                   youngModulus=18000,
                                   totalMass=0.5,
                                   surfaceColor=[0.0, 0.8, 0.7],
                                   surfaceMeshFileName="test.stl",
                                   scale = [3.0, 3.0, 3.0],
                                   collisionMesh = "test.stl"
                                   )
                                   
    from stlib.physics.constraints import FixedBox
    fixingBox=[-20.0,-20.0,-20.0,20.0,20.0,20.0]
    FixedBox(eobject.node, atPositions=fixingBox, doVisualization=True)
    
    
    return rootNode

Hello,
I am trying to follow these steps https://github.com/sofa-framework/SofaROSConnector to connect Sofa v20.06 and ROS noetic. During the cmake-gui Configuration, this error occurs:
CMake Error at applications/plugins/STLIB/CMakeLists.txt:42 (sofa_create_package_with_targets):
Unknown CMake command "sofa_create_package_with_targets".

I am using Ubuntu 20.04
Thanks for your help!

Hi

Current packaging of STLIB is not working as the python code is not included in the packaging.
In some old version of this packaging v21.06.03, in STLIB/lib/ there was a folder "python3/site-packages" that included the python code...
Is it possible to put it back ?

Dear,
When I run the ./runsofa with the stlib.pyscn I have the error in my terminal as follows.

And I have download the STLIB and compile it successfully.
When I run the ./runsofa, the plugin will be loaded automosly.
And I would like to inquire what's wrong with this.

Best regards,
Beal

Hi,

Following the discussion from this issue, the way we use the properties in the prefab VisualModel is not correct.
Adding the components of the prefab from the init() method and using the properties results in odd behaviors due to the data callback mechanism.
We should update these prefabs:

• stlib3/visuals/VisualModel
• stlib3/physics/deformable/ElasticMaterialObject

Hello,

I am trying to build Sofa with STLIB and softrobots plugins with v20.06.

However I get the error: (running ubuntu 20.04 more output
configure_output.txt
attached)

CMake Error at /home/arthur/Documents/sofa/plugins/STLIB/CMakeLists.txt:42 (sofa_create_package_with_targets):
Unknown CMake command "sofa_create_package_with_targets".

I noticed the binaries on the softrobotic webpage were for v19.04 so I was wondering if this was an issue with the version of Sofa I am using?
Is there a version of STLIB that is compatible with v20.06? Or could this be a different kind of problem?

When trying to launch the sofiaLeg demo provided by the ModelOrderReduction plugin, the newBox function did not work for me. I noticed that TRS_to_matrix() does not initiate the rotation quaternion when a zero rotation is given. It can be fixed by adding the following lines:

if eulerRotation != None:
      rotation = from_euler( to_radians( eulerRotation ) )
else:
      rotation = [0, 0, 0, 1]

In the file STLIB/python/stlib/physics/deformable/elasticmaterialobject.py need to resolve the problem : TypeError: 'staticmethod' object is not callable
File "step0.pyscn", line 11, in createScene
Gripper(rootNode)
File "gripper.py", line 14, in Gripper
pullPointLocation=[3, 10.5, 3])
File "finger.py", line 39, in Finger
translation=translation)
File "/home/younes/travail/plugin/STLIB/python/splib/objectmodel/init.py", line 47, in call
o = self.cls(*args, **kwargs)
File "/home/younes/travail/plugin/STLIB/python/stlib/physics/deformable/elasticmaterialobject.py", line 30, in init
collisionMesh, withConstrain, surfaceColor, poissonRatio, youngModulus, totalMass, solver)

Problem description:
https://www.sofa-framework.org/community/forum/topic/error-when-loading-sofapython-plugin/#post-13882

missing a 's' after constraint in step 2 code example :

from stlib.physics.constraint import FixedBox