[eaparra]

Hi @Hugo

Yes, we would like to do two simulations, one without mass and the other one with mass.
The idea is to investigate how, with the mass at the end, we can change the stiffness of the system.
Yes, in dynamic simulation.

I attach the paper, which explains what we want to simulate, but of course, with SOFA to go further.

A Bio-inspired Quasi-resonant Compliant Backbone for Low Power Consumption Quadrupedal Locomotion

https://www.scitepress.org/Link.aspx?doi=10.5220/0009770402420249

Thank you for your help and I look forward to your response.

Greetings.

[eaparra]

Hi @Hugo.

Thanks so much for your help.
Yes, I have to model the full mass object at the end, and along, the beam.
The idea is to simulate and demostrate how I can change the sttiffness changing the full mass object location along the beam.
This fisrt approch is thought for modeling a quadruped robot trunk.

The problem using AttachConstraint is that I can’t simulate how with mass and without mass is modified the bending of the beam. It appears that the full mass object isn’t at the end of the beam and therefore it doesn’t effect the beam.

I undestand that you help as quickly as possible, sorry I didn’t want to bother you.

Thank you very much for your help and I look forward to your response.

Greetings.

[eaparra]

Hi @hugo.

I have a drawback to be able to simulate a cantilever beam, fixed-free confuguration, with a mass at the free end of the beam. Concerning that I asked before about Problem for beam-mass simulation, I wanted to know if you can help me.
Thank you very much.

[eaparra]

Hi @hugo.

I hope you have a good day.
Converning that I asked before about Problem for beam-mass simulation, I wanted to know if you can help me.
Thank you very much.

[eaparra]

Hi @jnbrunet

Thanks for your help.
Yes, I installed the libcgal-qt5-dev and SOFA starts to used the CGAL plugin.

But now, I have a problem, sorry.
I followed the steps in the https://softroboticstoolkit.com/sofa/tutorial/step-1 to create a volumetric mesh, and when I used the volumetric mesh .vtu SOFA said

[ERROR] [TetrahedronHyperelasticityFEMForceField(TetrahedronHyperelasticityFEMForceField)] ERROR(TetrahedronHyperelasticityFEMForceField): object must have a Tetrahedral Set Topology.

[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 updateBBox 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

[eaparra]

Yes @hugo

I installed the libcgal-dev and I chose the PLUGIN_CGALPLUGIN but it showed me the next error en cmake

Adding plugin CGALPlugin
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/CGAL/CGALExports.cmake:83 (message):
The imported target “CGAL::CGAL_Qt5” references the file

“/usr/lib/x86_64-linux-gnu/libCGAL_Qt5.so.11.0.1”

but this file does not exist. Possible reasons include:

* The file was deleted, renamed, or moved to another location.

* An install or uninstall procedure did not complete successfully.

* The installation package was faulty and contained

“/usr/lib/x86_64-linux-gnu/cmake/CGAL/CGALExports.cmake”

but not all the files it references.

Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/CGAL/CGALConfig.cmake:12 (include)
applications/plugins/CGALPlugin/CMakeLists.txt:41 (find_package)

Configuring incomplete, errors occurred!
See also “/home/andres/My-SOFA/Unstable/build/CMakeFiles/CMakeOutput.log”.

[eaparra]

Hi @hugo

It installed the packages, it is called libcgal-dev, but as such opening a software, it does not.
I’m using the unstable version of SOFA, the one that is downloaded cloning from git clone -b master https://github.com/sofa-framework/sofa.git sofa / src.

Thanks

[eaparra]

Hello @hugo

Thanks for your help and motivation.

Yes, the command sudo apt-get install libcgal-dev works well and installed the version that I mentioned before.

I could not find what version of CGAL but I searched and I found it, it is libcgal-dev 4.7-4 and it is in the include , bin, share and lib folders.

Then, I have installed the libcgal, do I have to link the folders in the cmake-gui in SOFA-PLUGIN_CGALPLUGIN or do I have to execute cmake . and make in the folders of CGAL.

Again, thank you.

[eaparra]

Hi @hugo

Regarding last post.

I followed the next installation instructions.
Supposedly, I installed the 5.0.2 version but I can’t verify the version.
I have problems to install it, one is that it’s too confusing to undertand how install it. I followed the next examples but I couldn’t installed it well.

The fisrt time I used https://www.cgal.org/download/linux.html where it says that I have to use sudo apt-get install libcgal-dev, But I couldn’t find the CGAL.

Later I used https://doc.cgal.org/latest/Manual/usage.html, but following the step it’s a little confused.

I’m working on the unstable version of SOFA.

If you know a link where explains well how to install CGAL, could you send me it please?

Thank you for you help.

[eaparra]

Hello @hugo

How I mentioned you in te previous post, I hat the error and I found the packages of GMP and MFRP.

In those days I tried to fix it but it was little bit confused.

– After I installed the packge of GMP and MPFR, I installed the CGAL. I followed the step of the CGAL’s web site and, supposedly, I could install it.

– Later, in Cmake, in CGAL_DIR I entered the folder where is installed the CGAL. And in GMP_DIR and MPFR_DIR I entered the folder where the packages are.

– After, I configured and generate it, but when I did the make in the build folder it showed the errors and said that:

In file included from /home/andres/My-SOFA/Unstable/src/applications/plugins/CGALPlugin/MeshGenerationFromImage.h:43:0,
                 from /home/andres/My-SOFA/Unstable/src/applications/plugins/CGALPlugin/MeshGenerationFromImage.inl:24,
                 from /home/andres/My-SOFA/Unstable/src/applications/plugins/CGALPlugin/MeshGenerationFromImage.cpp:25:
/usr/include/CGAL/Weighted_point.h: In function ‘std::ostream& CGAL::operator<<(std::ostream&, const CGAL::Weighted_point<Point, Weight>&)’:
/usr/include/CGAL/Weighted_point.h:112:23: error: ‘mode’ is not a member of ‘CGAL::IO’
   switch(os.iword(IO::mode))
                       ^~~~
/usr/include/CGAL/Weighted_point.h:112:23: note: suggested alternative: ‘Mode’
   switch(os.iword(IO::mode))
                       ^~~~
                       Mode
In file included from /usr/local/include/CGAL/ImageIO/analyze.h:62:0,
                 from /usr/local/include/CGAL/ImageIO_impl.h:51,
                 from /usr/local/include/CGAL/ImageIO.h:710,
                 from /usr/local/include/CGAL/Image_3.h:25,
                 from /usr/local/include/CGAL/Labeled_mesh_domain_3.h:41,
                 from /usr/local/include/CGAL/Labeled_image_mesh_domain_3.h:27,
                 from /home/andres/My-SOFA/Unstable/src/applications/plugins/CGALPlugin/MeshGenerationFromImage.h:38,
                 from /home/andres/My-SOFA/Unstable/src/applications/plugins/CGALPlugin/MeshGenerationFromImage.inl:24,
                 from /home/andres/My-SOFA/Unstable/src/applications/plugins/CGALPlugin/MeshGenerationFromImage.cpp:25:
/usr/include/dirent.h: At global scope:
/usr/include/dirent.h:99:5: error: expected identifier before numeric constant
     DT_UNKNOWN = 0,
     ^
/usr/include/dirent.h:99:5: error: expected ‘}’ before numeric constant
/usr/include/dirent.h:99:5: error: expected unqualified-id before numeric constant
In file included from /usr/include/features.h:367:0,
                 from /usr/include/x86_64-linux-gnu/c++/7/bits/os_defines.h:39,
                 from /usr/include/x86_64-linux-gnu/c++/7/bits/c++config.h:533,
                 from /usr/include/c++/7/cstddef:49,
                 from /home/andres/My-SOFA/Unstable/src/SofaKernel/modules/SofaHelper/src/sofa/helper/system/config.h:27,
                 from /home/andres/My-SOFA/Unstable/src/SofaKernel/modules/SofaHelper/src/sofa/helper/fixed_array.h:51,
                 from /home/andres/My-SOFA/Unstable/src/SofaKernel/modules/SofaHelper/../SofaDefaultType/src/sofa/defaulttype/Vec.h:25,
                 from /home/andres/My-SOFA/Unstable/src/applications/plugins/CGALPlugin/MeshGenerationFromImage.h:25,
                 from /home/andres/My-SOFA/Unstable/src/applications/plugins/CGALPlugin/MeshGenerationFromImage.inl:24,
                 from /home/andres/My-SOFA/Unstable/src/applications/plugins/CGALPlugin/MeshGenerationFromImage.cpp:25:
/usr/include/dirent.h:401:1: error: expected declaration before ‘}’ token
 __END_DECLS
 ^
applications/plugins/CGALPlugin/CMakeFiles/CGALPlugin.dir/build.make:144: recipe for target 'applications/plugins/CGALPlugin/CMakeFiles/CGALPlugin.dir/MeshGenerationFromImage.cpp.o' failed
make[2]: *** [applications/plugins/CGALPlugin/CMakeFiles/CGALPlugin.dir/MeshGenerationFromImage.cpp.o] Error 1
CMakeFiles/Makefile2:10099: recipe for target 'applications/plugins/CGALPlugin/CMakeFiles/CGALPlugin.dir/all' failed
make[1]: *** [applications/plugins/CGALPlugin/CMakeFiles/CGALPlugin.dir/all] Error 2
Makefile:179: recipe for target 'all' failed
make: *** [all] Error 2

Thanks for your attention, and I hope you’re fine in these days of quarantine.

[eaparra]

Hello Hugo.

I’m going to break the questions into different spaces to answer them one by one.

— Do you get an error and Could you share it with us?

When I set the SOFA-PLUGIN_CGALPLUGIN option to ON and Configure in cmake, it gives me the following error:

Adding plugin CGALPlugin
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/CGAL/CGALExports.cmake:83 (message):
  The imported target "CGAL::CGAL_Qt5" references the file

     "/usr/lib/x86_64-linux-gnu/libCGAL_Qt5.so.11.0.1"

  but this file does not exist.  Possible reasons include:

  * The file was deleted, renamed, or moved to another location.

  * An install or uninstall procedure did not complete successfully.

  * The installation package was faulty and contained

     "/usr/lib/x86_64-linux-gnu/cmake/CGAL/CGALExports.cmake"

  but not all the files it references.

Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/CGAL/CGALConfig.cmake:12 (include)
  applications/plugins/CGALPlugin/CMakeLists.txt:41 (find_package)

— Can you see where GMP and MPRF were installed?

The packages of the GMP and MPFR, libgmp and libmpfr, are in:
/usr/share/doc/.
/usr/lib/x86_64-linux-gnu
/usr/include/x86_64-linux-gnu

Thanks for your attention.

[eaparra]

Hi Abdelrahman.

I had the same problem, whe I tried to generete the file with cmake-gui.
Basically, I generete the file with the gcc and cmake that Ubuntu has by defult.
What are g++ 5.4.0 and and cmake-gui 5.2.2.

I tried to generete the files with the unstable SOFA and I just install, over Ubuntu Software, cmake 3.17, and both work fine.

I hope I have been able to help.

[Author]

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