scheiklp / sofa_env Goto Github PK

Hi,

I would like to ask you what units of measurement are used in these environments as I haven't found anything in the documentation;
in particular, I would like to know the unit of measurement used for Young's modulus.
Thanks

Francesco

Hi @ScheiklP,

I have been trying the repository in the last few days, and I saw that you have update the minimum required python version to 3.8. Even though the tests pass using this verion and the simple scene controllable_object_example would work, people will experience problems in other scenes. For example, if you try running environment deflect_spheres, an error will raise regarding the impossibility of performing the bitwise OR (|) operator between defaultdict and dict. This is coming from line 290 on deflect_spheres_env.py.

self.reward_amount_dict = defaultdict(float) | reward_amount_dict

This was solved in Python3.9 on PEP 584. Not sure if you were aware about this, but it may lead to some confusion for future users. Maybe it will be a good idea to talk with the people from SOFA so they update the binaries with a newer version of Python to solve this issue and have full compatibility with this repository. Another solution would be to create a Docker Image to self contain the requirements to run this repository from any computer. I hope his comment helps.

Best,
Mikel

hi,
i have been running successfully a simulation in a new environment i have created myself... now that i have changed the meshes involved i am encountering this error though :
[ERROR] [FileRepository] File kidney-3786-0.01.comp NOT FOUND in :C:/Users/franc/anaconda3/envs/sofasource/sofa/src/share:C:/Users/franc/anaconda3/envs/sofasource/sofa/src/examples:C:/Users/franc/anaconda3/envs/sofasource/sofa/build:C:/Users/franc/anaconda3/envs/sofasource/sofa/build

actually this file is not in the right folder, but i have noticed that in C:/Users/franc/anaconda3/envs/sofasource/sofa/src/share there are the others .comp files of the previous meshes, without me having done anything.

how can i solve this problem? thanks in advance for your help

python ~/sofa/sofa_zoo/sofa_zoo/envs/reach/ppo.py

I ran the code above and ended up with an Assertion Error.

It seemed that type(env.observation_space) = <class 'gymnasium.spaces.box.Box'>, which is not gym.spaces.Box that the code required.

Do you know how to fix this problem?
I really appreciate any help you can provide.

I'm installing the SOFA environment following this link https://github.com/ScheiklP/sofa_env/blob/d0d197d4bda74338e8b6aa1e5a72a9c715f7f73e/docs/source/setting_up_sofa.rst

Follow the instructions from top to bottom until the build SOFA in the Compile SOFA part. I received a thousand lines of error.

Environment

Context

• System: Ubuntu 18.04.5 LTS
• Version of SOFA: master branch at commit d0d197d

Command called

cmake --build $FOLDER_TARGET -j --target install

I will show you a first few lines of the error messages.

In file included from /bigdata/users/kleelakunwet/sofa/src/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.cpp:22:0:
/bigdata/users/kleelakunwet/sofa/src/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.h:28:23: error: variable 'sofa::helper::visual::SOFA_EXPORT_DYNAMIC_LIBRARY sofa::helper::visual::Transformation' has initializer but incomplete type
 class SOFA_HELPER_API Transformation
                       ^~~~~~~~~~~~~~
/bigdata/users/kleelakunwet/sofa/src/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.h:30:1: error: expected primary-expression before 'public'
 public:
 ^~~~~~
/bigdata/users/kleelakunwet/sofa/src/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.h:30:1: error: expected '}' before 'public'
/bigdata/users/kleelakunwet/sofa/src/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.h:30:1: error: expected ',' or ';' before 'public'
/bigdata/users/kleelakunwet/sofa/src/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.h:32:5: error: 'SReal' does not name a type
     SReal   scale[3];
     ^~~~~
/bigdata/users/kleelakunwet/sofa/src/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.h:33:5: error: 'SReal' does not name a type
     SReal   rotation[4][4];
     ^~~~~
/bigdata/users/kleelakunwet/sofa/src/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.h:34:5: error: 'SReal' does not name a type
     SReal   objectCenter[3];
     ^~~~~
/bigdata/users/kleelakunwet/sofa/src/Sofa/framework/Helper/src/sofa/helper/visual/Transformation.h:36:21: error: expected constructor, destructor, or type conversion before ';' token
     Transformation();
                     ^

Hi, I met a problem while testing the installation python3 sofa_env/scenes/controllable_object_example/controllable_env.py
And I got out put like this

---------------------------------------
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: /home/yhf/sofa/build/install
---------------------------------------
Traceback (most recent call last):
  File "/home/yhf/sofa/sofa_env/sofa_env/scenes/controllable_object_example/controllable_env.py", line 65, in <module>
    env.reset()
  File "/home/yhf/sofa/sofa_env/sofa_env/scenes/controllable_object_example/controllable_env.py", line 53, in reset
    return super().reset(seed)
  File "/home/yhf/sofa/sofa_env/sofa_env/base.py", line 206, in reset
    self._init_sim()
  File "/home/yhf/sofa/sofa_env/sofa_env/base.py", line 229, in _init_sim
    self.sofa = importlib.import_module("Sofa")
  File "/home/yhf/anaconda3/envs/sofa_try/lib/python3.9/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1030, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1007, in _find_and_load
  File "<frozen importlib._bootstrap>", line 986, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 680, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 850, in exec_module
  File "<frozen importlib._bootstrap>", line 228, in _call_with_frames_removed
  File "/home/yhf/anaconda3/envs/sofa_try/lib/python3.9/site-packages/Sofa/__init__.py", line 140, in <module>
    import Sofa.Helper
ModuleNotFoundError: No module named 'Sofa.Helper'

What should I do to solve this problem? Thank you.

Hi,
i'm using a .png image texture for the objects in my simulations, but the image doesn't wrap around the mesh like i want and there's always a marked line that creates problems. There is a way to solve my problem in Sofa? or maybe to import the information about the texture mapping from another program?
thanks a lot

Hello,

I am working a lot with Sofa in the last few years for my PhD and I have found this repository as @ScheiklP mentioned one code snapshot from it when I was struggling with a grasping simulation. I have to say that this repository is really impressive and I would be really interested to use some of the environments to train some DNN for my PhD and add some extra functionalities along with my work.

However, I came across some problem when trying to install the python package on my computer. I found the error was coming from the Gym package. As I could read at the official repository from OpenAI about Gym, they stopped maintainance on this repository on 2021. The development was moved to Gymnasium and now the recommended form of use is import gymnasium as gym. I think it will be good for new users to have this updated on the main branch. Do you want me to submit a pull request with the necessary changes?

Regards,
Mikel

Hi,

I had problem installing the sofa_env with cmake code

cmake -Wno-dev \
-S $FOLDER_SRC -B $FOLDER_TARGET \
-DCMAKE_BUILD_TYPE=Release \
-DSOFA_FETCH_SOFAPYTHON3=OFF \
-DPLUGIN_SOFAPYTHON3=ON \
-DPython_EXECUTABLE=$PYTHON_EXE \
-DPython_ROOT_DIR=$PYTHON_ROOT_DIR \
-DSP3_LINK_TO_USER_SITE=ON \
-DSP3_PYTHON_PACKAGES_LINK_DIRECTORY=$PYTHON_PKG_PATH \
-DPLUGIN_SOFACARVING=ON \
-DSP3_BUILD_TEST=OFF \
-DSOFA_BUILD_TESTS=OFF

<font color="#C01C28">  Could NOT find GLEW (missing: GLEW_LIBRARIES) (found version &quot;2.2.0&quot;)</font>
<font color="#C01C28">Call Stack (most recent call first):</font>
<font color="#C01C28">  /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE)</font>
<font color="#C01C28">  /usr/share/cmake-3.22/Modules/FindGLEW.cmake:215 (find_package_handle_standard_args)</font>
<font color="#C01C28">  Sofa/framework/Config/cmake/SofaMacrosConfigure.cmake:382 (find_package)</font>
<font color="#C01C28">  Sofa/GL/CMakeLists.txt:7 (sofa_find_package)</font>
</pre>```

Do you have any idea how to fix it?

Thank you so much!

hi everyone, i installed sofa_env but i get issues while installing the pyDNS. I have read that it does not work with python3, so i tried to install pip3DNS... but when i try to launch the test file, like it is said on the github page, i receive this error, although i can guarantee you that i installed it
Traceback (most recent call last):
File "C:\Users\franc\anaconda3\envs\sofa\sofa_env-main\sofa_env\scenes\controllable_object_example\controllable_env.py", line 62, in
env.reset()
File "C:\Users\franc\anaconda3\envs\sofa\sofa_env-main\sofa_env\scenes\controllable_object_example\controllable_env.py", line 49, in reset
return super().reset()
File "c:\users\franc\anaconda3\envs\sofa\sofa_env-main\sofa_env\base.py", line 149, in reset
self._init_sim()
File "c:\users\franc\anaconda3\envs\sofa\sofa_env-main\sofa_env\base.py", line 187, in init_sim
self.sofa = importlib.import_module("Sofa")
File "C:\Users\franc\anaconda3\envs\sofa\lib\importlib_init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "", line 1050, in _gcd_import
File "", line 1027, in _find_and_load
File "", line 1004, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'Sofa'

Thanks in advance for your help

Pyglet supports offscreen rendering through EGL, but PyGame does not.
The combination of RenderFramework.PYGAME and RenderMode.HEADLESS thus currently not work.

For the future, we should fallback to LLVMpipe and OSMesa for this case.

import os
import numpy as np
from PIL import Image
from OpenGL.GL import *
from OpenGL.GLUT import *
from OpenGL.raw.osmesa import mesa as osmesa

# Use LLVMpipe for rendering
os.environ['LIBGL_ALWAYS_SOFTWARE'] = '1'
os.environ['GALLIUM_DRIVER'] = 'llvmpipe'

# create a context
ctx = osmesa.OSMesaCreateContextExt(osmesa.OSMESA_RGBA, 32, 0, 0, None)
if not ctx:
    print('Could not create OSMesa context')
    exit(1)

# create a framebuffer
width, height = 640, 480
buffer = np.zeros([height, width, 4], dtype=np.uint8)

# make the context current
if not osmesa.OSMesaMakeCurrent(ctx, buffer, GL_UNSIGNED_BYTE, width, height):
    print('Could not make the OSMesa context current')
    exit(1)

# setup viewport
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glOrtho(-1, 1, -1, 1, -1, 1)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()

# render a red triangle
glBegin(GL_TRIANGLES)
glColor3f(1, 0, 0)  # Red color
glVertex2f(-0.5, -0.5)
glVertex2f(0.5, -0.5)
glVertex2f(0, 0.5)
glEnd()

# unbind the context before deletion
osmesa.OSMesaMakeCurrent(None, None, GL_UNSIGNED_BYTE, 0, 0)

# clean up
osmesa.OSMesaDestroyContext(ctx)

# flip the buffer vertically (origin is different in OSMesa and PIL)
buffer = np.flipud(buffer)

# convert the buffer to an image and save it
img = Image.fromarray(buffer, 'RGBA')
img.save('output.png')