NotImplementedError: Importing your SOFA Scene Failed

[jiayiliu-pku]

I run python test_env.py -e catchtheobject-v0 -ep 5 -s 20 with errors:

The versions of SOFA and all plugins are v23.06.
Could you help me with it?

[hugtalbot]

Please @jiayiliu-pku copy paste text next time, instead of images (using pastebin if the output is too large)

Let me poke @samuelmyoussef for this matter

[jiayiliu-pku]

I am so sorry for the images. I extracted the text from the image and pasted it here.

jiayi@ubuntu:~/Softwares/SOFA/plugins/SofaGymŞ pythortest_env.py -e catchtheobject-v0 -ep 5 -s 20
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: /home/jiayi/Softwares/SOFA/sofa/build
pygame 2.5.2 (SDL 2.28.2, Python 3.10.13)
Hello from the pygame community. https://www.pygame.org/contribute.html
[INFO]
[PluginManager] Loaded plugin: /home/jiayi/Softwares/SSOFA/sofa/build/lib/libSofa.Component.so
54491
/home/jiayi/.local/lib/python3.10/site-packages/gym/spaces/box.py::73: UserWarning: WARN: Box bound precision lowered by casting tofloat32
_ logger.warn(
Start env catchtheobject-v0
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: /home/jiayi/Softtwares/SOFA/sofa/build
pygame 2.5.2 (SDL 2.28.2, Python 3.10.13)
Hello from the pygame community. https://www.pygame.org/ccontribute.htm
[INFO]
[PluginManager] Loaded plugin: /home/jiayi/Softwares/SOFA/sofa/build/lib/libSofa.Component.so
[SofaRuntime] NotImplementedError: Importing your SOFA SceneFailed
sofagym.envs.CatchTheobject.CatchTheobjectScene
[ERROR]
Traceback (most recent call last):
File "/home/jiayi/Softwares/SOFA/plugins/SofaGym/sofagym/rpc_client.py", line 174, in
root = init_simulation(config, startCmd, mode='simu')
File "/home/jiayi/Softwares/SOFA/plugins/SofaGym/sofagym/simulate.py", line 44, in init_simulation
raise NotimplementedError("Importing your SOFA Scene Failed)

[samuelmyoussef]

Can you check if the scene itself is running fine in SOFA? Also, in the simulate.py file, can you put line 41 out of the try-except block and comment the block, and post the error you get here?

[jiayiliu-pku]

1. I am not sure how to check if the scene itself is running fine in SOFA?
2. After I put line 41 out the try-except block and comment the block, I got:

[ERROR] [SofaRuntime] ModuleNotFoundError: No module named 'pyquaternion'

I could fix this error by installing 'pyquaternion' and restore the try-except block. Then I re-run 'python test_env.py -e catchtheobject-v0 -ep 5 -s 20'. I got another error and I put the new error here.

[WARNING] [GenericConstraintCorrection(unnamed)] String data "solverName" is now replaced by explicit data link: "linearSolver" (PR #3152)
Init gripper_config...
Init Gripper ...
[WARNING] [LinearSolverConstraintCorrection(unnamed)] String data "solverName" is now replaced by explicit data link: "linearSolver" (PR #3152)
[ERROR] [SofaRuntime] ValueError: Object type SurfacePressureConstraint was not created
The object 'SurfacePressureConstraint' is not in the factory.
But the following exits:
: SurfacePressureForceField (72% match)
: TaitSurfacePressureForceField (66% match)

Traceback (most recent call last):
File "/home/jiayi/Softwares/SOFA/plugins/SofaGym/sofagym/rpc_client.py", line 174, in
root = init_simulation(config, _startCmd, mode='simu')
File "/home/jiayi/Softwares/SOFA/plugins/SofaGym/sofagym/simulate.py", line 49, in init_simulation
create_scene(root, config, mode = mode)
File "/home/jiayi/Softwares/SOFA/plugins/SofaGym/sofagym/envs/CatchTheObject/CatchTheObjectScene.py", line 60, in createScene
gripper.onEnd(rootNode)
File "/home/jiayi/Softwares/SOFA/plugins/SofaGym/sofagym/envs/CatchTheObject/CatchTheObject.py", line 144, in onEnd
left_cavity = self._createCavity(left_part, self.max_pressure, scale=[0.7]*3, rotation=[0, 90, 0],
File "/home/jiayi/Softwares/SOFA/plugins/SofaGym/sofagym/envs/CatchTheObject/CatchTheObject.py", line 187, in _createCavity
cavity.addObject('SurfacePressureConstraint', template='Vec3', triangles='@topo.triangles',

Exception in thread Thread-2 (deferredStart):
Traceback (most recent call last):
File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner
self.run()
File "/usr/lib/python3.10/threading.py", line 953, in run
self._target(*self._args, **self._kwargs)
File "/home/jiayi/Softwares/SOFA/plugins/SofaGym/sofagym/rpc_server.py", line 527, in deferredStart
subprocess.run([sys.executable, path+"sofagym/rpc_client.py", sdict, str(nb_actions), str(port_rpc)],
File "/usr/lib/python3.10/subprocess.py", line 526, in run
raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command '['/usr/bin/python', '/home/jiayi/Softwares/SOFA/plugins/SofaGym/sofagym/rpc_client.py', "{'scene': 'CatchTheObject', 'deterministic': True, 'source': [0, -70, 10], 'target': [0, 0, 10], 'goalList': [[7, 0, 20]], 'start_node': None, 'scale_factor': 10, 'dt': 0.01, 'timer_limit': 30, 'timeout': 50, 'display_size': (1600, 800), 'render': 1, 'save_data': False, 'save_image': False, 'save_path': '/home/jiayi/Softwares/SOFA/plugins/SofaGym/sofagym/envs/CatchTheObject/Results/CartStem', 'planning': False, 'discrete': False, 'start_from_history': None, 'python_version': 'python3.9', 'zFar': 4000, 'time_before_start': 0, 'seed': None, 'max_move': 10, 'max_pressure': 15, 'save_path_image': None, 'save_path_results': None, 'goal_node': 0, 'goalPos': [7, 0, 20]}", '-1', '55197']' returned non-zero exit status 1.

[BBYango]

I have the same problem as you :(. Have you solved it now?

[jiayiliu-pku]

Sorry, I did not solve it so far.

[BBYango]

I just solved it! The reason is that the splib3 library in stlib was not called. Just add ...\SOFA_v23.06.00_Win64\plugins\STLIB\lib\python3\site-packages to the Python library path!