Errors for build (make in build directory) process of softrobot, cosserat and ModelOrderReduction

[parabolang]

Hi, everybody!
I have already install sofagym plugin but with problem in installing plugins by in-tree binary build. I have successfully install SPLIB and STLIB with 100% in make process. However, when I run the test_env.py, error occurs that No module named 'splib3'. I tested for other sofapython3 script when I imported splib3. It had the same error. Traceback (most recent call last):

  File "/home/chi/sofa_gym/SofaGym/test_env.py", line 23, in <module>
    from sofagym.envs import *
  File "/home/chi/sofa_gym/SofaGym/sofagym/envs/__init__.py", line 1, in <module>
    from sofagym.envs.BubbleMotion.BubbleMotionEnv import *
  File "/home/chi/sofa_gym/SofaGym/sofagym/envs/BubbleMotion/BubbleMotionEnv.py", line 11, in <module>
    from sofagym.AbstractEnv import AbstractEnv
  File "/home/chi/sofa_gym/SofaGym/sofagym/AbstractEnv.py", line 20, in <module>
    import splib3
ModuleNotFoundError: No module named 'splib3'

I can't install the plugins using the in-tree binary method. I followed the instructions provided in documents. For the external plugins (Cosserat, softrobots, ModelOrderReduction), firstly, I installed all the external plugin into a separate folder. Secondly, added a cmakelist.text file. Then, configure, generate and build.  For cosserat plugin,  in make step in build directory of the process of 99%, I will see an error like 
/home/chi/sofa_gym/sofa/build/external_directories/external_plugins/Cosserat/Tests/forcefield/BeamHookeLawForceFieldTest.cpp: In member function ‘void sofa::BeamHookeLawForceFieldTest<_DataTypes>::TearDown()’:
/home/chi/sofa_gym/sofa/build/external_directories/external_plugins/Cosserat/Tests/forcefield/BeamHookeLawForceFieldTest.cpp:57:37: error: ‘unload’ is not a member of ‘sofa::simulation::node’
   57 |             sofa::simulation::node::unload(root);
      |                                     ^~~~~~
/home/chi/sofa_gym/sofa/build/external_directories/external_plugins/Cosserat/Tests/forcefield/BeamHookeLawForceFieldTest.cpp: In member function ‘void sofa::BeamHookeLawForceFieldTest<_DataTypes>::testFonctionnel() [with _DataTypes = sofa::defaulttype::StdVectorTypes<sofa::type::Vec<3, double>, sofa::type::Vec<3, double>, double>]’:
/home/chi/sofa_gym/sofa/build/external_directories/external_plugins/Cosserat/Tests/forcefield/BeamHookeLawForceFieldTest.cpp:130:33: error: ‘animate’ is not a member of ‘sofa::simulation::node’
  130 |         sofa::simulation::node::animate(root.get(), 1);
      |                                 ^~~~~~~
/home/chi/sofa_gym/sofa/build/external_directories/external_plugins/Cosserat/Tests/forcefield/BeamHookeLawForceFieldTest.cpp: In member function ‘void sofa::BeamHookeLawForceFieldTest<_DataTypes>::basicAttributesTest() [with _DataTypes = sofa::defaulttype::StdVectorTypes<sofa::type::Vec<3, double>, sofa::type::Vec<3, double>, double>]’:
/home/chi/sofa_gym/sofa/build/external_directories/external_plugins/Cosserat/Tests/forcefield/BeamHookeLawForceFieldTest.cpp:173:33: error: ‘animate’ is not a member of ‘sofa::simulation::node’
  173 |         sofa::simulation::node::animate(root.get(),(double)0.01);
      |                                 ^~~~~~~
make[2]: *** [external_directories/external_plugins/Cosserat/Tests/CMakeFiles/Cosserat_test.dir/build.make:104: external_directories/external_plugins/Cosserat/Tests/CMakeFiles/Cosserat_test.dir/forcefield/BeamHookeLawForceFieldTest.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:18443: external_directories/external_plugins/Cosserat/Tests/CMakeFiles/Cosserat_test.dir/all] Error 2
make: *** [Makefile:156: all] Error 2

The softrobots plugin, with fatal error when make in build directory. I cannot found the initsoftrobots.h file in the error directory. I only found initsoftrobots.h.in in that directory.
The error is 
[ 98%] Building CXX object external_directories/external_plugins/SoftRobots/CMakeFiles/SoftRobots.dir/src/SoftRobots/component/initSoftRobots.cpp.o
/home/chi/sofa_gym/sofa/build/external_directories/external_plugins/SoftRobots/src/SoftRobots/component/initSoftRobots.cpp:30:10: fatal error: SoftRobots/component/initSoftRobots.h: No such file or directory
   30 | #include <SoftRobots/component/initSoftRobots.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [external_directories/external_plugins/SoftRobots/CMakeFiles/SoftRobots.dir/build.make:76: external_directories/external_plugins/SoftRobots/CMakeFiles/SoftRobots.dir/src/SoftRobots/component/initSoftRobots.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:18293: external_directories/external_plugins/SoftRobots/CMakeFiles/SoftRobots.dir/all] Error 2
make: *** [Makefile:156: all] Error 2

For model order reduction plugin, I also struggled with the cmake error like in 99%, the error is:
[ 99%] Building CXX object external_directories/external_plugins/ModelOrderReduction/CMakeFiles/ModelOrderReduction.dir/src/ModelOrderReduction/initModelOrderReduction.cpp.o
/home/chi/sofa_gym/sofa/build/external_directories/external_plugins/ModelOrderReduction/src/ModelOrderReduction/initModelOrderReduction.cpp:17:10: fatal error: ModelOrderReduction/config.h: No such file or directory
   17 | #include <ModelOrderReduction/config.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [external_directories/external_plugins/ModelOrderReduction/CMakeFiles/ModelOrderReduction.dir/build.make:76: external_directories/external_plugins/ModelOrderReduction/CMakeFiles/ModelOrderReduction.dir/src/ModelOrderReduction/initModelOrderReduction.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:18304: external_directories/external_plugins/ModelOrderReduction/CMakeFiles/ModelOrderReduction.dir/all] Error 2
make: *** [Makefile:156: all] Error 2

Hope one can help me solve the building plugin problem and I am eager to start RL journey in SOFA. Thanks in advance!!!!

[hugtalbot]

Hi @parabolang

All you need to do is to add to your environment variable PYTHONPATH the path to splib3 site-packages.
In the Linux binary version it is in plugins/STLIB/lib/python3/site-packages/
Best wishes

[WilliamHangXu]

Hi! I am facing the same issue, but I can't find the path you mention here. Is it in the directory where we have our in-tree built plugins, or is it in sofa's builr or src directory? Thanks!

[hugtalbot]

hi @WilliamHangXu
my above reply is for the SOFA binary release
have you compiled SOFA from sources?
what does your environment variable PYTHONPATH contain?

[WilliamHangXu]

Hi Hugo, I believe I have correctly compiled SOFA from sources, as the runSofa command correctly loads the snake scene. My PYTHONPATH now contains the directories below:
/home/william/sofa/build/v22.12/lib/python3/site-packages:/home/william/sofa_plugins/STLIB/python3/src
And the problem seems to be solved. Thank you!