sofa notes

by Dan Aukes

Sofa info

VBox info

ubuntu 22.04 only:

install guest additions

sudo usermod -a -G vboxsf $USER 
sudo usermod -a -G vboxusers $USER

wget https://github.com/sofa-framework/sofa/releases/download/v23.12.01/SOFA_v23.12.01_Linux.zip
unzip SOFA_v23.12.01_Linux.zip
sudo apt update
# sudo add-apt-repository ppa:deadsnakes/ppa
# sudo apt install -y libpython3.8 python3.8 python3-pip python3.8-distutils 
sudo apt install -y python3.10-dev python3.10-distutils pybind11-dev
curl -L https://bootstrap.pypa.io/pip/get-pip.py --output /tmp/get-pip3.py
python3.10 /tmp/get-pip3.py
export PATH=$PATH:$HOME/.local/bin
python3.10 -m pip install --upgrade pip
python3.10 -m pip install numpy scipy pybind11==2.9.1

#https://stackoverflow.com/questions/77233855/why-did-i-got-an-error-modulenotfounderror-no-module-named-distutils
sudo apt install -y libopengl0
# sudo apt remove python3-pil
python3.10 -m pip install numpy scipy jupyter matplotlib pillow

add to bashrc

export PATH=$HOME/.local/bin:$PATH

export SOFA_ROOT=$HOME/SOFA_v23.12.01_Linux
export PYTHONPATH=$PYTHONPATH:$HOME/SOFA_v23.12.01_Linux/plugins/SofaPython3/lib/python3/site-packages
export PATH=$HOME/SOFA_v23.12.01_Linux/bin:$PATH

nano $HOME/SOFA_v23.12.01_Linux/lib/plugin_list.conf

add

#SofaPython3 23.06.00 # for older version
SofaPython3 23.12.01

remove:

MeshSTEPLoader NO_VERSION

Example

git clone https://github.com/SofaDefrost/SoftRobots.git

runSofa SoftRobots/examples/tutorials/PneunetGripper/details/step7-grabTheCube.py

Coding

GL issues

not needed

apt install -y ffmpeg libsm6 libxext6 -y #https://stackoverflow.com/questions/55313610/importerror-libgl-so-1-cannot-open-shared-object-file-no-such-file-or-directo

all that's needed

apt install -y libgl1 #https://stackoverflow.com/questions/55313610/importerror-libgl-so-1-cannot-open-shared-object-file-no-such-file-or-directo apt install -y libnss3 #https://stackoverflow.com/questions/72149564/pyqt5-doesnt-work-on-docker-importerror-libsmime3-so-cannot-open-shared-objec

tried, not sure if it worked pip install pyoplengl didn't try apt install -y libgl1-mesa-glx

got through that now not finding other things

apt install -y make g++ pkg-config libgl1-mesa-dev libxcb*-dev libfontconfig1-dev libxkbcommon-x11-dev python libgtk-3-dev #https://stackoverflow.com/questions/62391587/qt-could-not-find-the-qt-platform-plugin-xcb

https://wiki.qt.io/Install_Qt_5_on_Ubuntu

pip install pyqt5

Tutorials

https://softroboticstoolkit.com/book/export/html/882561 https://project.inria.fr/softrobot/install-get-started-2/tutorial/ https://github.com/SofaDefrost/SoftRobots/tree/master/examples/tutorials/Trunk/mesh

problem with plugins

https://github.com/sofa-framework/sofa/releases/tag/v23.06.00

https://www.sofa-framework.org/community/doc/plugins/what-is-a-plugin/#plugin-loading

[ERROR]   [PluginManager] Plugin loading failed (/home/danaukes/sofa/SOFA_v23.12.01_Linux/lib/libMeshSTEPLoader.so): libTKBRep.so.11: cannot open shared object file: No such file or directory