Seemingly missing functions in softrobots.actuators

[AdelGuiot]

Hello,

I am trying to pick up a soft robotics simulation started by someone else. Here is the link to the project: https://github.com/pchaillo/ucl_stiff_flop

The file that defines the properties of the soft robot ("Stiff_Flop_CLASS.py" in the project) calls constrain from softrobot.actuator. Constrain seems to contain a function called ConstrainCavity(points, parents, indices, tolerance, name). However, from what I can see in the latest version of the softrobot library, "constrain" is not a subpart of softrobot.actuator, and I cannot find the ConstrainCavity function anywhere.

Do you happen to know where it might have been moved? Thank you in advance!

[alxbilger]

I cannot find the file Stiff_Flop_CLASS.py in the mentioned repository. So I cannot really help you.
But I can tell you that actuator is a concept from the plugin SoftRobots.Inverse (https://github.com/SofaDefrost/SoftRobots.Inverse), not SoftRobots.

[AdelGuiot]

Hello,

My apologies, it looks like the version I have is more recent than the one on the GitHub repository. Attached below is an archive containing the two main files of the scene. The import causing the error is found in line 14 of Stiff_Flop_CLASS.py, and it calls constrain.ConstrainCavity on lines 198 and 199.

Stiff_Flop_CLASS+Main_Module.zip

Thank you very much for your help!

[alxbilger]

The missing module is in @pchaillo's own fork: https://github.com/pchaillo/SoftRobots/tree/master/python3/softrobots/actuators

[AdelGuiot]

Hello, thank you very much for finding that out, I failed to consider that he might have forked the repository!

The script is still not operational (it's erroring because "Softrobots.Inverse is missing" even though it is used in my scene, which is weird since the plugin comes preinstalled with SOFA, so I'm looking into that), but the issue regarding softrobots.actuators is now fixed. Thanks for your help!