Controller Bug in new ImGui

[accuracy-maker]

Hi Community,

I recently upgrade my version to v25.12 and switch gui from qglviewer to imgui. However, the controller works well in the qglviewer but doesn't respond in the new gui. I wonder if there's anything changed I don't know. my code is

`from math import cos
from math import sin
from splib3.numerics import Vec3, Quat
from splib3.animation import animate, AnimationManager
import Sofa.Core

import os
path = os.path.dirname(os.path.abspath(file))+'/mesh/'
dirPath = os.path.dirname(os.path.abspath(file))+'/'

class TrunkController(Sofa.Core.Controller):
"""
Controller for the trunk robot.

Keyboard controls:
- Keys 1-4: Select long cable L0-L3 (front, left, back, right)
- Keys 5-8: Select short cable S0-S3 (front, left, back, right)
- +/=: Increase displacement of selected cable
- -/_: Decrease displacement of selected cable
- 0: Reset selected cable to 0
- R: Reset all cables to 0
- A: Activate all cables equally (symmetric extension)
- Q: Quit info mode / deselect
"""

def __init__(self, *args, **kwargs):
    Sofa.Core.Controller.__init__(self, *args, **kwargs)
    self.trunk = args[0]
    self.name = "TrunkController"
    self.selectedCable = None
    self.selectedCableName = None
    self.step = 1.0  # displacement step in mm
    
    print("\n" + "="*60)
    print("TRUNK CONTROLLER INITIALIZED")
    print("="*60)
    print("Cable Selection:")
    print("  1-4: Select long cables L0-L3 (Front, Left, Back, Right)")
    print("  5-8: Select short cables S0-S3 (Front, Left, Back, Right)")
    print("\nCable Control:")
    print("  +/=: Increase displacement (+1mm)")
    print("  -/_: Decrease displacement (-1mm)")
    print("  0:   Reset selected cable to 0")
    print("  R:   Reset ALL cables to 0")
    print("\nSpecial Controls:")
    print("  A:   Activate all cables equally")
    print("  Q:   Deselect cable")
    print("="*60 + "\n")

def onKeypressedEvent(self, event):
    key = event['key']
    
    # Cable selection - Long cables (1-4)
    if key == '1':
        self.selectCable('cableL0', 'Long Cable 0 (Front)')
    elif key == '2':
        self.selectCable('cableL1', 'Long Cable 1 (Left)')
    elif key == '3':
        self.selectCable('cableL2', 'Long Cable 2 (Back)')
    elif key == '4':
        self.selectCable('cableL3', 'Long Cable 3 (Right)')
    
    # Cable selection - Short cables (5-8)
    elif key == '5':
        self.selectCable('cableS0', 'Short Cable 0 (Front)')
    elif key == '6':
        self.selectCable('cableS1', 'Short Cable 1 (Left)')
    elif key == '7':
        self.selectCable('cableS2', 'Short Cable 2 (Back)')
    elif key == '8':
        self.selectCable('cableS3', 'Short Cable 3 (Right)')
    
    # Control selected cable
    elif key == '+' or key == '=':
        self.increaseDisplacement()
    elif key == '-' or key == '_':
        self.decreaseDisplacement()
    elif key == '0':
        self.resetSelectedCable()
    
    # Global controls
    elif key == 'R' or key == 'r':
        self.resetAllCables()
    elif key == 'A' or key == 'a':
        self.activateAllCables()
    elif key == 'Q' or key == 'q':
        self.deselectCable()

def selectCable(self, cableName, displayName):
    """Select a cable for control"""
    try:
        self.selectedCable = self.trunk.node.getChild(cableName)
        self.selectedCableName = displayName
        displacement = self.selectedCable.cable.value[0]
        print(f"[SELECTED] {displayName} | Current displacement: {displacement:.1f} mm")
    except:
        print(f"[ERROR] Could not find cable: {cableName}")
        self.selectedCable = None
        self.selectedCableName = None

def increaseDisplacement(self):
    """Increase displacement of selected cable"""
    if self.selectedCable is None:
        print("[WARNING] No cable selected! Press 1-8 to select a cable first.")
        return
    
    displacement = self.selectedCable.cable.value[0]
    maxDisp = self.selectedCable.cable.maxPositiveDisp.value
    
    displacement += self.step
    if displacement > maxDisp:
        displacement = maxDisp
        print(f"[MAX REACHED] {self.selectedCableName} at maximum: {displacement:.1f} mm")
    else:
        print(f"[+] {self.selectedCableName}: {displacement:.1f} mm")
    
    self.selectedCable.cable.value = [displacement]

def decreaseDisplacement(self):
    """Decrease displacement of selected cable"""
    if self.selectedCable is None:
        print("[WARNING] No cable selected! Press 1-8 to select a cable first.")
        return
    
    displacement = self.selectedCable.cable.value[0]
    displacement -= self.step
    
    if displacement < 0:
        displacement = 0
        print(f"[MIN REACHED] {self.selectedCableName} at minimum: 0.0 mm")
    else:
        print(f"[-] {self.selectedCableName}: {displacement:.1f} mm")
    
    self.selectedCable.cable.value = [displacement]

def resetSelectedCable(self):
    """Reset selected cable to 0"""
    if self.selectedCable is None:
        print("[WARNING] No cable selected! Press 1-8 to select a cable first.")
        return
    
    self.selectedCable.cable.value = [0.0]
    print(f"[RESET] {self.selectedCableName}: 0.0 mm")

def resetAllCables(self):
    """Reset all cables to 0"""
    for i in range(4):
        try:
            cableL = self.trunk.node.getChild(f'cableL{i}')
            cableL.cable.value = [0.0]
            cableS = self.trunk.node.getChild(f'cableS{i}')
            cableS.cable.value = [0.0]
        except:
            pass
    print("[RESET ALL] All cables reset to 0.0 mm")

def activateAllCables(self):
    """Activate all cables equally (for symmetric extension)"""
    displacement = 10.0  # Default activation value
    for i in range(4):
        try:
            cableL = self.trunk.node.getChild(f'cableL{i}')
            cableL.cable.value = [displacement]
            cableS = self.trunk.node.getChild(f'cableS{i}')
            cableS.cable.value = [displacement * 0.5]  # Short cables less displacement
        except:
            pass
    print(f"[ACTIVATE ALL] All cables activated (L:{displacement:.1f}mm, S:{displacement*0.5:.1f}mm)")

def deselectCable(self):
    """Deselect current cable"""
    if self.selectedCable:
        print(f"[DESELECTED] {self.selectedCableName}")
    self.selectedCable = None
    self.selectedCableName = None

def effectorTarget(parentNode, position=[0., 0., 200]):
target = parentNode.addChild('Target')
target.addObject('EulerImplicitSolver', firstOrder=True)
target.addObject('CGLinearSolver')
target.addObject('MechanicalObject', name='dofs', position=position, showObject=True, showObjectScale=8, drawMode=2, showColor=[1., 1., 1., 1.])
target.addObject('UncoupledConstraintCorrection', defaultCompliance=1e-5)
return target

class Trunk:
""" This prefab is implementing a soft robot inspired by the elephant's trunk.
The robot is entirely soft and actuated with 8 cables.

    The prefab is composed of:
    - a visual model
    - a collision model
    - a mechanical model for the deformable structure

    The prefab has the following parameters:
    - youngModulus
    - poissonRatio
    - totalMass

    Example of use in a Sofa scene:

    def createScene(root):
        ...
        trunk = Trunk(root)

        ## Direct access to the components
        trunk.displacements = [0., 0., 0., 0., 5., 0., 0., 0.]
"""

def __init__(self, parentNode, youngModulus=450, poissonRatio=0.45, totalMass=0.042, inverseMode=False):

    self.inverseMode = inverseMode
    self.node = parentNode.addChild('Trunk')

    self.node.addObject('MeshVTKLoader', name='loader', filename=path+'trunk.vtk')
    self.node.addObject('MeshTopology', src='@loader', name='container')

    self.node.addObject('MechanicalObject', name='dofs', template='Vec3')
    self.node.addObject('UniformMass', totalMass=totalMass)
    self.node.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=poissonRatio,  youngModulus=youngModulus)

    self.__addCables()

def __addCables(self):
    length1 = 10.
    length2 = 2.
    lengthTrunk = 195.

    pullPoint = [[0., length1, 0.], [-length1, 0., 0.], [0., -length1, 0.], [length1, 0., 0.]]
    direction = Vec3(0., length2-length1, lengthTrunk)
    direction.normalize()

    nbCables = 4
    for i in range(0, nbCables):
        theta = 1.57*i
        q = Quat(0., 0., sin(theta/2.), cos(theta/2.))

        position = [[0., 0., 0.]]*20
        for k in range(0, 20, 2):
            v = Vec3(direction[0], direction[1]*17.5*(k/2)+length1, direction[2]*17.5*(k/2)+21)
            position[k] = v.rotateFromQuat(q)
            v = Vec3(direction[0], direction[1]*17.5*(k/2)+length1, direction[2]*17.5*(k/2)+27)
            position[k+1] = v.rotateFromQuat(q)

        cableL = self.node.addChild('cableL'+str(i))
        cableL.addObject('MechanicalObject', name='dofs',
                            position=pullPoint[i]+[pos.toList() for pos in position],
                            showObject=True,      # ADD THIS
                            showObjectScale=2,    # ADD THIS
                            showColor=[1, 0, 0, 1])  # ADD THIS (red color)
        cableL.addObject('CableConstraint' if not self.inverseMode else 'CableActuator', template='Vec3', name='cable',
                            hasPullPoint='0',
                            indices=list(range(0, 21)),
                            maxPositiveDisp='70',
                            maxDispVariation='1',
                            minForce=0)
        cableL.addObject('BarycentricMapping', name='mapping',  mapForces=False, mapMasses=False)

    for i in range(0, nbCables):
        theta = 1.57*i
        q = Quat(0., 0., sin(theta/2.), cos(theta/2.))

        position = [[0., 0., 0.]]*10
        for k in range(0, 9, 2):
            v = Vec3(direction[0], direction[1]*17.5*(k/2)+length1, direction[2]*17.5*(k/2)+21)
            position[k] = v.rotateFromQuat(q)
            v = Vec3(direction[0], direction[1]*17.5*(k/2)+length1, direction[2]*17.5*(k/2)+27)
            position[k+1] = v.rotateFromQuat(q)

        cableS = self.node.addChild('cableS'+str(i))
        cableS.addObject('MechanicalObject', name='dofs',
                            position=pullPoint[i]+[pos.toList() for pos in position],
                            showObject=True,      # ADD THIS
                            showObjectScale=2,    # ADD THIS  
                            showColor=[0, 1, 0, 1])  # ADD THIS (green color for short cables)
        cableS.addObject('CableConstraint' if not self.inverseMode else 'CableActuator', template='Vec3', name='cable',
                            hasPullPoint='0',
                            indices=list(range(0, 10)),
                            maxPositiveDisp='40',
                            maxDispVariation='1',
                            minForce=0)
        cableS.addObject('BarycentricMapping', name='mapping',  mapForces=False, mapMasses=False)

def addVisualModel(self, color=[1., 1., 1., 1.]):
    trunkVisu = self.node.addChild('VisualModel')
    trunkVisu.addObject('MeshSTLLoader', filename=path+'trunk.stl')
    trunkVisu.addObject('OglModel', color=color)
    trunkVisu.addObject('BarycentricMapping')

def addCollisionModel(self, selfCollision=False):
    trunkColli = self.node.addChild('CollisionModel')
    for i in range(2):
        part = trunkColli.addChild('Part'+str(i+1))
        part.addObject('MeshSTLLoader', name='loader', filename=path+'trunk_colli'+str(i+1)+'.stl')
        part.addObject('MeshTopology', src='@loader')
        part.addObject('MechanicalObject')
        part.addObject('TriangleCollisionModel', group=1 if not selfCollision else i)
        part.addObject('LineCollisionModel', group=1 if not selfCollision else i)
        part.addObject('PointCollisionModel', group=1 if not selfCollision else i)
        part.addObject('BarycentricMapping')

def fixExtremity(self):
    self.node.addObject('BoxROI', name='boxROI', box=[[-20, -20, 0], [20, 20, 20]], drawBoxes=False)
    self.node.addObject('PartialFixedProjectiveConstraint', fixedDirections=[1, 1, 1], indices='@boxROI.indices')

def addEffectors(self, target, position=[0., 0., 195.]):
    effectors = self.node.addChild('Effectors')
    effectors.addObject('MechanicalObject', position=position)
    effectors.addObject('PositionEffector', indices=list(range(len(position))), effectorGoal=target)
    effectors.addObject('BarycentricMapping', mapForces=False, mapMasses=False)

def createScene(rootNode):

# Choose your resolution mode
# 1- inverseMode=True, solve the inverse problem and control the end effectors
# 2- inverseMode=False, solve the direct problem and set the cable displacements by hand
inverseMode = False

rootNode.addObject('RequiredPlugin', name='SoftRobots')
rootNode.addObject('RequiredPlugin', name='SofaPython3')
rootNode.addObject('RequiredPlugin', name='SofaGLFW')
rootNode.addObject('RequiredPlugin', pluginName=[
                        "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
                        "Sofa.Component.Constraint.Lagrangian.Correction",  # Needed to use components GenericConstraintCorrection
                        "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components BlockGaussSeidelConstraintSolver
                        "Sofa.Component.Constraint.Projective",  # Needed to use components PartialFixedProjectiveConstraint
                        "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
                        "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
                        "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
                        "Sofa.Component.LinearSolver.Iterative",  # Needed to use components ShewchukPCGLinearSolver
                        "Sofa.Component.Mass",  # Needed to use components UniformMass
                        "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
                        "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
                        "Sofa.Component.Topology.Container.Constant",  # Needed to use components MeshTopology
                        "Sofa.Component.Visual",  # Needed to use components VisualStyle
                        "Sofa.GL.Component.Rendering3D",  # Needed to use components OglModel
                    ])
AnimationManager(rootNode)
rootNode.addObject('DefaultVisualManagerLoop')
rootNode.addObject('VisualStyle', displayFlags='showBehavior')
rootNode.gravity = [0., -9810., 0.]

rootNode.addObject('FreeMotionAnimationLoop')
if inverseMode:
    # For inverse resolution, i.e control of effectors position
    rootNode.addObject('RequiredPlugin', name='SoftRobots.Inverse')
    rootNode.addObject('QPInverseProblemSolver', epsilon=1e-1)
else:
    # For direct resolution, i.e direct control of the cable displacement
    rootNode.addObject('BlockGaussSeidelConstraintSolver', maxIterations=100, tolerance=1e-5)

simulation = rootNode.addChild('Simulation')

simulation.addObject('EulerImplicitSolver', name='odesolver', firstOrder=False, rayleighMass=0.1, rayleighStiffness=0.1)
simulation.addObject('SparseLDLSolver', name='precond')
simulation.addObject('GenericConstraintCorrection')

trunk = Trunk(simulation, inverseMode=inverseMode)
trunk.addVisualModel(color=[1., 1., 1., 0.8])
trunk.fixExtremity()

# Add the controller!
rootNode.addObject(TrunkController(trunk))

if inverseMode:
    # For inverse resolution, set a constraint for the effector and a target
    target = effectorTarget(rootNode)
    trunk.addEffectors(target=target.dofs.getData('position').getLinkPath(), position=[[0., 0., 195]])`

I can control the trunk by pressing ctrl + key in the old gui.

Thanks for your time and help.

cheers,

[accuracy-maker]

In qglviewer, we press ctrl + key. In imgui or glfw, we press ctrl + shift + key.

[3H2Oaaa]

@accuracy-maker @hugtalbot
hello! Why is the animate function not working? It doesn't seem to be changing the value.

Here is my scene graph

[3H2Oaaa]

Could it be a version issue? I'm on version 25.06.

[damienmarchal]

About the animate function...

To write animation function this way you need to have an AnimationManager object in the scene.
I see it in the python part of the code you are sending but don't see it in the screenshot (it should be between the RequiredPlugin and DefaultVisualManagerLoop). Do you have any idea why ?

[3H2Oaaa]

@damienmarchal Thank you for your response! I'm sorry that I don't know why.
Here is my code.
trunk.py
And here is my command line log.

Click to expand log

[INFO]    [runSofa] PluginRepository paths = D:/learning_software/SOFA/SOFAframework/v25.06.00/bin;D:/learning_software/SOFA/SOFAframework/v25.06.00/plugins;D:/learning_software/SOFA/SOFAframework/v25.06.00/bin
[INFO]    [runSofa] DataRepository paths = D:/learning_software/SOFA/SOFAframework/v25.06.00/share/sofa;D:/learning_software/SOFA/SOFAframework/v25.06.00/share/sofa/examples;D:/learning_software/SOFA/SOFAframework/v25.06.00/share/sofa;D:/learning_software/SOFA/SOFAframework/v25.06.00/share/sofa/examples;D:/learning_software/SOFA/SOFAframework/v25.06.00/share/sofa/icons
[INFO]    [runSofa] runSofaDataRepository paths = D:/learning_software/SOFA/SOFAframework/v25.06.00/share/sofa/gui/runSofa;D:/learning_software/SOFA/SOFAframework/v25.06.00/share/sofa/gui/runSofa
[INFO]    [GUIManager] Registered batch as a GUI.
[INFO]    [runSofa] Loading automatically plugin list in D:\learning_software\SOFA\SOFAframework\v25.06.00\bin/plugin_list.conf
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.ODESolver.Forward.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.ODESolver.Backward.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.ODESolver.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.IO.Mesh.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.IO.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Playback.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.SceneUtility.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Topology.Container.Constant.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Topology.Container.Dynamic.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Topology.Container.Grid.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Topology.Container.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Topology.Mapping.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Topology.Utility.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Topology.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Visual.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.LinearSystem.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.LinearSolver.Iterative.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.LinearSolver.Ordering.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.LinearSolver.Direct.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.LinearSolver.Preconditioner.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.LinearSolver.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Mass.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Diffusion.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Mapping.Linear.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Mapping.NonLinear.dll
[DEPRECATED] [Sofa.Component.Mapping.MappedMatrix] This plugin is deprecated and will be removed in the future.
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Mapping.MappedMatrix.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Mapping.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.StateContainer.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.SolidMechanics.Spring.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.SolidMechanics.FEM.Elastic.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.SolidMechanics.FEM.HyperElastic.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.SolidMechanics.FEM.NonUniform.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.SolidMechanics.FEM.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.SolidMechanics.TensorMass.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.SolidMechanics.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Constraint.Lagrangian.Model.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Constraint.Lagrangian.Correction.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Constraint.Lagrangian.Solver.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Constraint.Lagrangian.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Constraint.Projective.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Constraint.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.AnimationLoop.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.MechanicalLoad.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Collision.Geometry.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Collision.Detection.Algorithm.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Collision.Detection.Intersection.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Collision.Detection.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Collision.Response.Mapper.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Collision.Response.Contact.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Collision.Response.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Collision.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Setting.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Controller.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Engine.Analyze.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Engine.Generate.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Engine.Select.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Engine.Transform.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Engine.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.Haptics.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Component.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.GL.Component.Rendering2D.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.GL.Component.Rendering3D.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.GL.Component.Engine.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.GL.Component.Shader.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.GL.Component.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.GUI.Component.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.GUI.Batch.dll
[INFO]    [GUIManager] Registered glfw as a GUI.
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/SofaGLFW.dll
[INFO]    [GUIManager] Registered imgui as a GUI.
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/SofaImGui.dll
[INFO]    [GUIManager] Registered qglviewer as a GUI.
[INFO]    [GUIManager] Registered qt as a GUI.
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Qt.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/MultiThreading.dll
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Sofa.Metis.dll
[DEPRECATED] [PluginManager] D:\learning_software\SOFA\SOFAframework\v25.06.00\bin/plugin_list.conf file is using a deprecated syntax (version information missing). Please update it in the near future.
[INFO]    [SofaPython3] Initializing with python version 3.12.12 | packaged by Anaconda, Inc. | (main, Oct 21 2025, 20:05:38) [MSC v.1929 64 bit (AMD64)]
[INFO]    [SofaPython3] Registering a scene loader for [.py, .py3, .pyscn, .py3scn] files.
[INFO]    [SofaPython3] Initializing python
[INFO]    [SofaPython3] Added 'D:/learning_software/SOFA/SOFAframework/v25.06.00/plugins/SofaPython3/lib/python3/site-packages' to sys.path
[INFO]    [SofaPython3] Added 'D:/learning_software/SOFA/SOFAframework/v25.06.00/lib/python3/site-packages' to sys.path
---------------------------------------
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: D:\learning_software\SOFA\SOFAframework\v25.06.00
Warning: environment variable SOFAPYTHON3_ROOT is empty. Trying to guess it.
Guessed SOFAPYTHON3_ROOT: D:\learning_software\SOFA\SOFAframework\v25.06.00\plugins\SofaPython3
Found Sofa.Helper.dll in D:\learning_software\SOFA\SOFAframework\v25.06.00\bin
Found SofaPython3.dll in D:\learning_software\SOFA\SOFAframework\v25.06.00\plugins\SofaPython3\bin
---------------------------------------
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/SofaPython3.dll
[DEPRECATED] [PluginManager] D:\learning_software\SOFA\SOFAframework\v25.06.00\bin/plugin_list.conf file is using a deprecated syntax (version information missing). Please update it in the near future.
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/STLIB.dll
[INFO]    [SofaPython3] Added 'D:/learning_software/SOFA/SOFAframework/v25.06.00/plugins/STLIB/lib/python3/site-packages' to sys.path
[INFO]    [PluginManager] Loaded plugin: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/SoftRobots.dll
[INFO]    [SofaPython3] Added 'D:/learning_software/SOFA/SOFAframework/v25.06.00/plugins/SoftRobots/lib/python3/site-packages' to sys.path
[INFO]    [PluginManager] 74 plugins have been loaded from D:\learning_software\SOFA\SOFAframework\v25.06.00\bin/plugin_list.conf
[INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckCollisionResponse, SceneCheckDeprecatedComponents, SceneCheckDuplicatedName, SceneCheckEmptyNodeName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias, SceneCheckMultithreading]
[SUGGESTION] [SceneCheckMultithreading] This scene is using components implemented sequentially while a parallel implementation is available. Using the parallel implementation may improve the performances. Here is the list of sequential components in your scene and their parallel equivalent:
        TetrahedronFEMForceField[Vec3d] -> ParallelTetrahedronFEMForceField[Vec3d]

[INFO]    [SceneCheckerVisitor] Finished validating node "root".
[INFO]    [ImGuiGUIEngine] Fetching settings from C:/Users/Administrator/AppData/Local/SOFA/config/imgui/settings.ini
[WARNING] [PluginManager] Trying to load plugin (Cosserat, from path: D:/learning_software/SOFA/SOFAframework/v25.06.00/bin/Cosserat.dll) already registered from path: D:\learning_software\SOFA\SOFAframework\v25.06.00\plugins\Cosserat\bin\Cosserat.dll
[INFO]    [PluginManager] Loaded plugin: D:\learning_software\SOFA\SOFAframework\v25.06.00\plugins\Cosserat\bin\Cosserat.dll
[INFO]    [SofaPython3] Added 'D:/learning_software/SOFA/SOFAframework/v25.06.00/plugins/Cosserat/lib/python3/site-packages' to sys.path
[INFO]    [PluginManager] 1 plugins have been loaded from C:/Users/Administrator/AppData/Local/SOFA/config/loadedPlugins.ini
[INFO]    [GUI] Current camera parameters have been imported from D:/learning_software/SOFA/SOFAframework/v25.06.00/share/sofa/examples/Demos/fallingSOFA.scn.view .
pscn
xml
scn
py3scn
py3
pyscn
py
[WARNING] [RequiredPlugin(SofaPython3)] No component has been registered from SofaPython3.
It could be because:
 - the entrypoint registerObjects() has not been implemented;
 - (deprecated since v24.12) no sofa::core::RegisterObject() has been called;
 - your plugin does not add any component (i.e BaseObject) into the factory. In that case, RequiredPlugin is not useful for this kind of plugin.
[SUGGESTION] [SparseLDLSolver(precond)] Template is empty
By default SparseLDLSolver uses blocks with a single scalar (to handle all cases of simulations).
If you are using only 3D DOFs, you may consider using blocks of Matrix3 to speedup the calculations.
If it is the case, add template="CompressedRowSparseMatrixMat3x3d" to this object in your scene
Otherwise, if you want to disable this message, add template="CompressedRowSparseMatrixd" .
[INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckCollisionResponse, SceneCheckDeprecatedComponents, SceneCheckDuplicatedName, SceneCheckEmptyNodeName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias, SceneCheckMultithreading]
[WARNING] [SceneCheckMissingRequiredPlugin] This scene is using component defined in plugins but is not importing the required plugins.
  Your scene may not work on a sofa environment with different pre-loaded plugins.
  To fix your scene and remove this warning you just need to cut & paste the following lines at the beginning of your scene:
  root.addObject('RequiredPlugin', name='Sofa.Component.Collision.Detection.Intersection') # Needed to use components [LocalMinDistance]
  root.addObject('RequiredPlugin', name='Sofa.Component.Collision.Geometry') # Needed to use components [LineCollisionModel,PointCollisionModel,TriangleCollisionModel]
  root.addObject('RequiredPlugin', name='Sofa.Component.Collision.Response.Contact') # Needed to use components [CollisionResponse]
  root.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [BarycentricMapping]
  root.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject]

[SUGGESTION] [SceneCheckMultithreading] This scene is using components implemented sequentially while a parallel implementation is available. Using the parallel implementation may improve the performances. Here is the list of sequential components in your scene and their parallel equivalent:
        TetrahedronFEMForceField[Vec3d] -> ParallelTetrahedronFEMForceField[Vec3d]

[INFO]    [SceneCheckerVisitor] Finished validating node "root".

[3H2Oaaa]

Here is my scene graph