Rigid Arm

Requirements

SOFA with plugins

• SofaPython3: git clone git@github.com:sofa-framework/SofaPython3.git
• SoftRobots: git clone git@github.com:SofaDefrost/SoftRobots.git
• SoftRobots.Inverse: git clone git@github.com:SofaDefrost/SoftRobots.Inverse.git
• SofaGLFW: git clone git@github.com:SofaComplianceRobotics/SofaGLFW.git
• [Optional] RigidBodyDynamics: for using Pinocchio to model the robot git clone git@github.com:sofa-framework/RigidBodyDynamics.git

Installation

1. Compile SOFA from source following the instructions from the SOFA website: https://www.sofa-framework.org/download/
2. Clone the plugins into common directory e.g. plugins:

   |-- SOFA
     |-- plugins
     |   |-- SofaGLFW
     |   |-- SoftRobots
     |   |-- SoftRobots.Inverse
     |   |-- SofaPython3
     |   |-- RigidBodyDynamics
     |   |-- CMakeLists.txt
     |-- build
     |-- src
   

3. Add the plugins to the SOFA project by editing the CMakeLists.txt file in the plugins directory:

   cmake_minimum_required(VERSION 3.10)
   sofa_add_subdirectory(plugin SofaPython3 SofaPython3 ON)
   sofa_add_subdirectory(plugin STLIB STLIB ON)
   sofa_add_subdirectory(plugin SoftRobots SoftRobots ON)
   sofa_add_subdirectory(plugin SoftRobots.Inverse SoftRobots.Inverse ON)
   sofa_add_subdirectory(plugin SofaGLFW SofaGLFW ON)

4. Add to Cmake the path to the CMakeLists.tkt file by adding the following variable: SOFA_EXTERNAL_DIRECTORIES=PATH_TO_/plugins
5. Now that the plugins have been added you can recompile the project.

[Optional] Pinocchio to model the rigid robot

Install pinocchio: 1. Follow installation procedure from: https://stack-of-tasks.github.io/pinocchio/download.html 2. In CMake: CMAKE_PREFIX_PATH = /opt/openrobots/lib/cmake/

Environment variables

You need to add the following environment variables to your system:

export SOFA_ROOT=PATH_TO_/build
export PATH=$SOFA_ROOT/bin:$PATH
export PYTHONPATH=$SOFA_ROOT/lib/python3/site-packages:$PYTHONPATH

How to

Run the simulation:

runSofa -l SofaPython3,SofaImGui -g imgui scene.py