Sorry for the “Christmas” silence!
For me the finger ms you are pointing to is working but with the same TetrahedronSetTopologyContainer error.
Could you give me the version of SOFA you are using and where you downloaded it from please?
Works fine for me (using another mesh because I don’t have the finger.vtk
Are you sure the file is containing tetrahedra ?
Does the mesh come from the SoftRobot plugin?