Viscous friction ?

[aleblanc30]

Hi SOFA community !

I'm looking to add a viscous friction force, i.e. a friction force proportionnal to the slipping velocity.

Is there a component that can help me do this ?

Otherwise, how can I get started to contribute one ?

[aleblanc30]

I read some of the code for FrictionContact. It seems to me that when a collision is detected, a lagrangian constraint is created that ensures that there is no interpenetration or slipping. Then the constraint is resolved in UnilateralConstraintResolutionWithFriction which represents a Gauss Seidel algorithm. The resolutionmethod is one iteration of the Gauss Seidel algorithm. The computed force is then stored to be used later ?

[aleblanc30]

Still in UnilateralConstraintResolutionWithFriction:resolution, the following code :

    if(normFt > fN)
    {
        const SReal factor = fN / normFt;
        force[line+1] *= factor;
        force[line+2] *= factor;
    }

returns a tangential force that either blocks tangential movement if normFt < fN, or is clamped to fN and represents the dry friction force that opposes tangential movement.

So I need to find a way to bring velocity information to this function and replace force[line+1] *= factor by something like force[line+1] *= factor*(1+alpha*slipping_velocity).

I guess this means I may have to write new classes similar to UnilateralLagrangianConstraint, UnilateralConstraintResolutionWithFriction, and FrictionContact.

[bakpaul]

Hello !

Yes to define new constraint behavior you need to write a class that inherits from ConstraintResolution. Those objects are the one defining how the constraint violation is linked to the constraint multiplier (force). Then you'll need to create an new UnilateralLagrangianConstraintWithViscousFriction that inherits from UnilateralLagrangianConstraint and just instead of using the UnilateralConstraintResolutionWithFriction uses your new constraint resolution.

The only difficulty I foresee is that delta is currently homogeneous to a position. You'll need to be able to access to the velocity from the input of the solvemethod. Dividing by dt might work but I would need more time to really understand what this means and how to relate it the the actual slipping velocity.

Maybe @ChristianDuriez might help you on this.

[aleblanc30]

Hi @bakpaul, thank you for your answer ! Can you be more specific about the solve method ? Which class does it belong to ? I'll keep working on this and report my progress here.

[hugtalbot]

I am not sure what you mean by the solve function @bakpaul do you mean to access the velocity data within the resolution function of the UnilateralConstraintResolutionWithViscousFriction ?

[aleblanc30]

I think this is what @bakpaul meant. I don't think dividing delta (by which I assume he means d, the third argument of the method) by dt would work. From what I understand dt would be the constraint violation, so here the algebraic distance that must remain positive ? Dividing it by a time would be homogeneous to a velocity but would definitely not be the slipping velocity. @hugtalbot @bakpaul any further input would be very welcome.

[aleblanc30]

I worked on figuring out where the constraints are instantitated. CollisionResponse implements ContactManager and thus determines the contact response, in the method createNewContacts.

In CollisionResponse.cpp, l. 168 :
auto contact = core::collision::Contact::Create(responseUsed, model1, model2, intersectionMethod,notMuted());

responseUsed is a string that is passed to a factory in Contact::Create. Contact.cpp, l.45:
return Factory::CreateObject(type,std::make_pair(std::make_pair(model1,model2),intersectionMethod));
where type is responseUsed.

This means you have to register the collision response model with the contact manager. This sends us back to the FrictionContact class, where the registration must happen in l.39 of FrictionContact.h :
SOFA_CLASS(SOFA_TEMPLATE3(FrictionContact, TCollisionModel1, TCollisionModel2, ResponseDataTypes), core::collision::Contact);

From this, a Contact object must receive all its information about the scene from two CollisionModels and an IntersectionMethod.

In order to implement the force I'm looking for directly with a contact, I must be able to get the velocity information from the collision models and the intersection method. If the data I need is accessible from those classes, I may not be able to implement viscous friction from the contact response. I may need to define a force field that takes into account collision information, instead of a collision response taking into account velocity.

edit : goodish news, TetrahedronModel has methods v1, v2, v3, v4 that returns velocities of the vertices, and TriangleModel has a method velocity that returns the average of the velocities of the vertices. So, at least in the particular case of triangular mesh collision models, which is the one I'm interested in, this should work.

[bakpaul]

I can only provide some advices but no final answer to your update. What you are trying to perform is something totally new.

The fact that the constraints are solved in position and not in velocity is a consequence of the integration scheme and the algorithm used to solve the constraints, For instance we only make a first order Taylor expansion of the constraint function, having a second order one might bring the velocity back into the interaction forces computation. But in the current state, this leads to have constraint violation that are homogeneous to positions (velocity*time). This being said, it is indeed difficult to try to add computation on velocity without changing the inherent algorithm. That is why I proposed to try to recompute the velocity.

Doing this through a Forcefield has its down sides. You might know that but the way Langrangian constraints are handled is through a motion correction algorithm. First we compute the motion of the models without interaction, taking into account the current internal and internal forces, then we compute how to correct this motion with respect to the interaction constraints then we correct the motion. The problem here if you try to solve that in a ForceField is in two fold :

1. You'll compute this forcefield with respect to the position at the beginning of the timestep, thus after the application of the contraint of the last timestep and before the application of the one of this timestep. This is somewhat a desing choice, but it means that you'll have one timestep of delay between the application for the contact forces and the damping
2. The constraint solving, as known as finding out what are the interaction forces, is computed in a reduces space, the constraint space. This allows to take into account the coupling of all the constraint and increase the realism and stability of the constraints, but by solving it in a second step as you want to do, you are somewhat removing the coupljng between your damping and the rest.

I keep feeling that you might be able to perform your computation using a custom set of constraint and constraint correction. By forcing for instance to compute the violation as the current relative velocity of the two object at the position of contact and then correct the viscous friction force by correcting this relative velocity with respect the the constraint forces, you might be able to compute a lagrangian multiplier that will behave as a damping. If you want we could setup a meeting to try to find a way to do this ! Tell me if you'd be interested, I'll send you an invitation.

[aleblanc30]

Hi @bakpaul, I feel like there is much that I don't understand in your answer. I'd definitely be interested in meeting with you !

[aleblanc30]

Thinking about it, the movement I want to model develops over a timescale of 0.1 to 1s, while the timestep I use as of now is 1e-4, so I don't think a one step delay in the force would be a big deal, unless it results in major instabilities and requires decreasing the timestep even more. I still think it would be neat to do it "properly"

[hugtalbot]

Do not hesitate to keep us posted regarding your progress in this post @aleblanc30
(PS : I am writing this message so that our bot sees that you got a reply 👍 )

[github-actions[bot]]

⚠️ ⚠️ ⚠️
@aleblanc30
Feedback has been given to you by the project reviewers, however we have not received a response from you. Without further news in the coming weeks, this discussion will be automatically closed in order to keep this forum clean and fresh 🌱 Thank you for your understanding

[aleblanc30]

Hi @bakpaul @hugtalbot, hope you are doing well ! I'm pretty happy about where things are going but I'm facing an issue. With @bakpaul, we created a separate UnilateralConstraintResolutionWithViscousFriction. I then realised I may want to combine both : some initial coulomb friction, followed by viscous friction during the sliding motion. To do that, I got rid of the UnilateralConstraintResolutionWithViscousFriction class and added an extra parameter to the original UnilateralConstraintResolutionWithFriction, which I called alpha. I then added the forces that we validated on the benchmark to the sliding friction case. However, when I try to launch the benchmark, I get a segmentation fault error.

From what I gathered, it may be related to multiple registrations of the same classes in the object factory, or to a problem with the UnilateralConstraintResolutionWithFriction::store function, in particular when it accesses _prev->pushForce. Another point of contention might be the way I pass parameters to the friction response in benchmark_viscous.py:

    rootNode.addObject('CollisionResponse', name='Response', response='FrictionContactConstraint', responseParams=f'mu=0.,alpha={alpha}')

Would any of you have some time to look into it ?

[damienmarchal]

Do you have the complete stacktrace of the segfault ?
The kind of text looking like that:

########## SIG 11 - SIGSEGV: segfault ##########
  sofa::helper::BackTrace::sig(int)
  std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::_Identity<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >::_M_erase(std::_Rb_tree_node<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >*)
  std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::_Identity<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >::_M_erase(std::_Rb_tree_node<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >*)
  sofa::core::ObjectFactory::~ObjectFactory()
  __libc_start_main
Erreur de segmentation (core dumped)

This can be informative to locate which function created the segfault (in general the ones just after the line: sofa::helper::BackTrace::sig(int)

[aleblanc30]

Here is a trace when I try to run the benchmark with runSofa :

➜  sofa ./install/bin/runSofa -lSofaPython3 src/sofa/benchmark/benchmark_viscous.py
[INFO]    [runSofa] PluginRepository paths = /home/alexandre/workspace/sofa/install/plugins:/home/alexandre/workspace/sofa/install/collections:/home/alexandre/workspace/sofa/install/lib
[INFO]    [runSofa] DataRepository paths = /home/alexandre/workspace/sofa/install/share/sofa:/home/alexandre/workspace/sofa/install/share/sofa/examples:/home/alexandre/workspace/sofa/install/share/sofa:/home/alexandre/workspace/sofa/install/share/sofa/examples
[INFO]    [runSofa] GuiDataRepository paths = /home/alexandre/workspace/sofa/install/share/sofa/gui/runSofa:/home/alexandre/workspace/sofa/install/share/sofa/gui/qt
[INFO]    [GUIManager] Registered batch as a GUI.
WARNING: Multiple instance of a singleton class
[WARNING] [ObjectFactory] cannot create template alias Vec1 as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec2 as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec3 as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec6 as it already exists
[WARNING] [ObjectFactory] cannot create template alias Rigid2 as it already exists
[WARNING] [ObjectFactory] cannot create template alias Rigid3 as it already exists
[WARNING] [ObjectFactory] cannot create template alias CompressedRowSparseMatrix as it already exists
[WARNING] [ObjectFactory] cannot create template alias CompressedRowSparseMatrixMat3x3 as it already exists
[WARNING] [ObjectFactory] cannot create template alias Mat2x2 as it already exists
[WARNING] [ObjectFactory] cannot create template alias Mat3x3 as it already exists
[WARNING] [ObjectFactory] cannot create template alias Mat4x4 as it already exists
[WARNING] [ObjectFactory] cannot create template alias Mat6x6 as it already exists
[WARNING] [ObjectFactory] cannot create template alias Rigid as it already exists
[WARNING] [ObjectFactory] cannot create template alias Rigid2f as it already exists
[WARNING] [ObjectFactory] cannot create template alias Rigid3f as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec1f as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec2f as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec3f as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec6f as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec1d as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec2d as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec3d as it already exists
[WARNING] [ObjectFactory] cannot create template alias Vec6d as it already exists
[WARNING] [ObjectFactory] cannot create template alias Rigid2d as it already exists
[WARNING] [ObjectFactory] cannot create template alias Rigid3d as it already exists
[WARNING] [ObjectFactory] cannot create template alias float as it already exists
[WARNING] [ObjectFactory] cannot create template alias double as it already exists
[WARNING] [ObjectFactory] cannot create template alias vector<int> as it already exists
[WARNING] [ObjectFactory] cannot create template alias vector<unsigned_int> as it already exists
[WARNING] [ObjectFactory] cannot create template alias vector<float> as it already exists
[WARNING] [ObjectFactory] cannot create template alias vector<double> as it already exists
[WARNING] [ObjectFactory] cannot create template alias int as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<int> as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<double> as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<bool> as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<Vec<2u,unsigned int>> as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<Vec<2u,double>> as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<Vec<3u,double>> as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<Vec<4u,double>> as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<RigidCoord<2u,double>> as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<RigidDeriv<2u,double>> as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<RigidCoord<3u,double>> as it already exists
[WARNING] [ObjectFactory] cannot create template alias Data<RigidDeriv<3u,double>> as it already exists
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DefaultAnimationLoop
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DefaultVisualManagerLoop
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RequiredPlugin
[ERROR]   [TaskSchedulerFactory] Cannot register task scheduler '_default' into the factory: a task scheduler with this name already exists
[INFO]    [SofaPython3] Initializing with python version 3.10.15 (main, Sep  7 2024, 18:35:33) [GCC 9.4.0]
[INFO]    [SofaPython3] Registering a scene loader for [.py, .py3, .pyscn, .py3scn] files.
[INFO]    [SofaPython3] Initializing python
[INFO]    [SofaPython3] Added '/home/alexandre/workspace/sofa/install/plugins/SofaPython3/lib/python3/site-packages' to sys.path
---------------------------------------
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: /home/alexandre/workspace/sofa/install
---------------------------------------
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: MeshTopology
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CubeTopology
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SphereQuadTopology
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: GridTopology
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RegularGridTopology
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SparseGridTopology
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CylinderGridTopology
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SphereGridTopology
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SparseGridMultipleTopology
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SparseGridRamificationTopology
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: BilateralLagrangianConstraint<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: BilateralLagrangianConstraint<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: FixedLagrangianConstraint<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: FixedLagrangianConstraint<Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: FixedLagrangianConstraint<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: FixedLagrangianConstraint<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: FixedLagrangianConstraint<Vec6d>
[WARNING] [ObjectFactory] Default template for class SlidingLagrangianConstraint already registered (Vec3d), do not register Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SlidingLagrangianConstraint<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: StopperLagrangianConstraint<Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: UniformLagrangianConstraint<Vec1d>
[ERROR]   [ObjectFactory] Component already registered: UnilateralLagrangianConstraint<>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DistanceFromTargetMapping<Rigid3d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DistanceFromTargetMapping<Vec1d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DistanceFromTargetMapping<Vec3d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DistanceMapping<Rigid3d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DistanceMapping<Vec3d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DistanceMultiMapping<Rigid3d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DistanceMultiMapping<Vec3d,Vec1d>
[WARNING] [ObjectFactory] Default template for class RigidMapping already registered (Rigid3d,Vec3d), do not register Rigid3d,Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RigidMapping<Rigid2d,Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RigidMapping<Rigid3d,Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RigidMapping<Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SquareDistanceMapping<Rigid3d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SquareDistanceMapping<Vec3d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SquareMapping<Vec1d,Vec1d>
[WARNING] [ObjectFactory] Default template for class EdgeSetGeometryAlgorithms already registered (Vec3d), do not register Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: EdgeSetGeometryAlgorithms<Rigid2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: EdgeSetGeometryAlgorithms<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: EdgeSetGeometryAlgorithms<Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: EdgeSetGeometryAlgorithms<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: EdgeSetGeometryAlgorithms<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: EdgeSetTopologyContainer
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: EdgeSetTopologyModifier
[WARNING] [ObjectFactory] Default template for class HexahedronSetGeometryAlgorithms already registered (Vec3d), do not register Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: HexahedronSetGeometryAlgorithms<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: HexahedronSetGeometryAlgorithms<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: HexahedronSetTopologyContainer
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: HexahedronSetTopologyModifier
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: MultilevelHexahedronSetTopologyContainer
[WARNING] [ObjectFactory] Default template for class PointSetGeometryAlgorithms already registered (Vec3d), do not register Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: PointSetGeometryAlgorithms<Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: PointSetGeometryAlgorithms<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: PointSetGeometryAlgorithms<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: PointSetTopologyContainer
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: PointSetTopologyModifier
[WARNING] [ObjectFactory] Default template for class QuadSetGeometryAlgorithms already registered (Vec3d), do not register Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: QuadSetGeometryAlgorithms<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: QuadSetGeometryAlgorithms<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: QuadSetTopologyContainer
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: QuadSetTopologyModifier
[WARNING] [ObjectFactory] Default template for class TetrahedronSetGeometryAlgorithms already registered (Vec3d), do not register Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TetrahedronSetGeometryAlgorithms<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TetrahedronSetGeometryAlgorithms<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TetrahedronSetTopologyContainer
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TetrahedronSetTopologyModifier
[WARNING] [ObjectFactory] Default template for class TriangleSetGeometryAlgorithms already registered (Vec3d), do not register Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangleSetGeometryAlgorithms<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangleSetGeometryAlgorithms<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangleSetTopologyContainer
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangleSetTopologyModifier
[WARNING] [ObjectFactory] Default template for class DynamicSparseGridGeometryAlgorithms already registered (Vec3d), do not register Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DynamicSparseGridGeometryAlgorithms<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DynamicSparseGridGeometryAlgorithms<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DynamicSparseGridTopologyContainer
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DynamicSparseGridTopologyModifier
[WARNING] [ObjectFactory] Default template for class BarycentricMapping already registered (Vec3d,Vec3d), do not register Vec3d,Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: BarycentricMapping<Vec3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: BarycentricMapping<Vec3d,Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: BeamLinearMapping<Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CenterOfMassMapping<Rigid2d,Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CenterOfMassMapping<Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CenterOfMassMulti2Mapping<Vec3d,Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CenterOfMassMultiMapping<Rigid3d,Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CenterOfMassMultiMapping<Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CenterOfMassMultiMapping<Vec3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: DeformableOnRigidFrameMapping<Vec3d,Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMapping<Rigid2d,Rigid2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMapping<Rigid2d,Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMapping<Rigid3d,Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMapping<Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMapping<Vec1d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMapping<Vec2d,Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMapping<Vec3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMapping<Vec6d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMapping<Vec6d,Vec6d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMultiMapping<Rigid3d,Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: IdentityMultiMapping<Vec3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: LineSetSkinningMapping<Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: Mesh2PointMechanicalMapping<Vec3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: Mesh2PointTopologicalMapping
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SimpleTesselatedHexaTopologicalMapping
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SimpleTesselatedTetraMechanicalMapping<Vec3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SimpleTesselatedTetraTopologicalMapping
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SkinningMapping<Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SubsetMapping<Rigid3d,Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SubsetMapping<Vec1d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SubsetMapping<Vec3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SubsetMultiMapping<Rigid3d,Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SubsetMultiMapping<Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SubsetMultiMapping<Vec1d,Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SubsetMultiMapping<Vec2d,Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SubsetMultiMapping<Vec3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TubularMapping<Rigid3d,Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: VoidMapping
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CubeCollisionModel
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CylinderCollisionModel<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: LineCollisionModel<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: PointCollisionModel<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RayCollisionModel
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SphereCollisionModel<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SphereCollisionModel<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TetrahedronCollisionModel
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangleCollisionModel<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangleModelInRegularGrid
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangleOctreeModel
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: AngularSpringForceField<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: FastTriangularBendingSprings<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: FrameSpringForceField<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: GearSpringForceField<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: JointSpringForceField<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: MeshSpringForceField<Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: MeshSpringForceField<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: MeshSpringForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: PolynomialRestShapeSpringsForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: PolynomialSpringsForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: QuadBendingSprings<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: QuadBendingSprings<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: QuadularBendingSprings<Vec3d>
[WARNING] [ObjectFactory] Default template for class RegularGridSpringForceField already registered (Vec3d), do not register Vec3d as the default
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RegularGridSpringForceField<Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RegularGridSpringForceField<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RegularGridSpringForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RegularGridSpringForceField<Vec6d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RepulsiveSpringForceField<Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RepulsiveSpringForceField<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RepulsiveSpringForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RestShapeSpringsForceField<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RestShapeSpringsForceField<Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RestShapeSpringsForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SpringForceField<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SpringForceField<Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SpringForceField<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SpringForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: SpringForceField<Vec6d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: StiffSpringForceField<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: StiffSpringForceField<Vec1d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: StiffSpringForceField<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: StiffSpringForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: StiffSpringForceField<Vec6d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangleBendingSprings<Vec2d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangleBendingSprings<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangularBendingSprings<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangularBiquadraticSpringsForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TriangularQuadraticSpringsForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: VectorSpringForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: Camera
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: InteractiveCamera
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: LineAxis
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RecordedCamera
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TrailRenderer<Rigid3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: TrailRenderer<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: Visual3DText
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: VisualGrid
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: VisualModelImpl<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: VisualStyle
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: VisualTransform
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: CollisionResponse
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: ContactListener
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: PenalityContactForceField<Vec3d>
[WARNING] [ObjectFactory] Class already registered in the ObjectFactory: RuleBasedContactManager
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/plugins/SofaPython3/lib/libSofaPython3.so
[INFO]    [runSofa] Loading automatically plugin list in /home/alexandre/workspace/sofa/install/lib/plugin_list.conf.default
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.ODESolver.Forward.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.ODESolver.Backward.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.ODESolver.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.IO.Mesh.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.IO.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Playback.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.SceneUtility.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Topology.Container.Constant.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Topology.Container.Dynamic.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Topology.Container.Grid.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Topology.Container.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Topology.Mapping.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Topology.Utility.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Topology.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Visual.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.LinearSystem.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.LinearSolver.Iterative.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.LinearSolver.Ordering.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.LinearSolver.Direct.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.LinearSolver.Preconditioner.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.LinearSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Mass.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Diffusion.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Mapping.Linear.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Mapping.NonLinear.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Mapping.MappedMatrix.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Mapping.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.StateContainer.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.SolidMechanics.Spring.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.SolidMechanics.FEM.Elastic.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.SolidMechanics.FEM.HyperElastic.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.SolidMechanics.FEM.NonUniform.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.SolidMechanics.FEM.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.SolidMechanics.TensorMass.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.SolidMechanics.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Constraint.Lagrangian.Model.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Constraint.Lagrangian.Correction.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Constraint.Lagrangian.Solver.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Constraint.Lagrangian.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Constraint.Projective.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Constraint.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.AnimationLoop.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.MechanicalLoad.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Geometry.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Detection.Algorithm.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Detection.Intersection.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Detection.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Response.Mapper.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Response.Contact.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Response.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Setting.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Controller.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Engine.Analyze.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Engine.Generate.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Engine.Select.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Engine.Transform.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Engine.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Haptics.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.GL.Component.Rendering2D.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.GL.Component.Rendering3D.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.GL.Component.Engine.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.GL.Component.Shader.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.GL.Component.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.GUI.Component.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.GUI.Batch.so
[INFO]    [GUIManager] Registered qglviewer as a GUI.
[INFO]    [GUIManager] Registered qt as a GUI.
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.GUI.Qt.so
[DEPRECATED] [SofaValidation] SofaValidation is deprecated. It will be removed at v23.06. For CompareState and CompareTopology, use Sofa.Component.Playback instead.
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/plugins/SofaValidation/lib/libSofaValidation.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/plugins/SceneCreator/lib/libSceneCreator.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/plugins/ArticulatedSystemPlugin/lib/libArticulatedSystemPlugin.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/plugins/MultiThreading/lib/libMultiThreading.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/plugins/CGALPlugin/lib/libCGALPlugin.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/plugins/SofaMatrix/lib/libSofaMatrix.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/plugins/STLIB/lib/libSTLIB.so
[INFO]    [SofaPython3] Added '/home/alexandre/workspace/sofa/install/plugins/STLIB/lib/python3/site-packages' to sys.path
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/plugins/SoftRobots/lib/libSoftRobots.so
[INFO]    [SofaPython3] Added '/home/alexandre/workspace/sofa/install/plugins/SoftRobots/lib/python3/site-packages' to sys.path
[INFO]    [PluginManager] 76 plugins have been loaded from /home/alexandre/workspace/sofa/install/lib/plugin_list.conf.default
[INFO]    [SofaPluginManager] Loading automatically plugin list in /home/alexandre/workspace/sofa/install/config/loadedPlugins.ini
[INFO]    [PluginManager] 0 plugins have been loaded from /home/alexandre/workspace/sofa/install/config/loadedPlugins.ini
[WARNING] [Qt] QObject::connect: No such slot sofa::gui::qt::RealGUI::fileSaveAs(sofa::simulation::Node*)
[WARNING] [Qt] QObject::connect:  (sender name:   'SimuGraph')
[WARNING] [Qt] QObject::connect:  (receiver name: 'GUI')

[INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckCollisionResponse, SceneCheckDeprecatedComponents, SceneCheckDuplicatedName, 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.Constraint.Lagrangian.Solver') # Needed to use components [GenericConstraintSolver]  
  root.addObject('RequiredPlugin', name='Sofa.Component.LinearSystem') # Needed to use components [MatrixLinearSystem]  

[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:   
	BVHNarrowPhase -> ParallelBVHNarrowPhase  
	BruteForceBroadPhase -> ParallelBruteForceBroadPhase  

[INFO]    [SceneCheckerVisitor] Finished validating node "root".
double free or corruption (!prev)

########## SIG 6 - SIGABRT: usually caused by an abort() or assert() ##########
^C
########## SIG 2 - SIGINT: interactive attention signal, probably a ctrl+c ##########
^C
########## SIG 2 - SIGINT: interactive attention signal, probably a ctrl+c ##########
  sofa::helper::BackTrace::sig(int)
  __poll
  xcb_wait_for_event
  clone

[aleblanc30]

When I try to run the benchmark using python :

➜  sofa python3.10 src/sofa/benchmark/benchmark_viscous.py                         
---------------------------------------
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: /home/alexandre/workspace/sofa/install
---------------------------------------
[ERROR]   [ObjectFactory] Component already registered: UnilateralLagrangianConstraint<>
m =  0.09999999999999999
	alpha =  1.0
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Detection.Algorithm.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Detection.Intersection.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Geometry.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Collision.Response.Contact.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.IO.Mesh.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.LinearSolver.Iterative.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Mapping.Linear.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Mass.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.ODESolver.Backward.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.SolidMechanics.Spring.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.StateContainer.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Topology.Container.Constant.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Topology.Container.Grid.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.GL.Component.Rendering3D.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.AnimationLoop.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Constraint.Lagrangian.Correction.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.LinearSolver.Direct.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Mapping.NonLinear.so
[INFO]    [PluginManager] Loaded plugin: /home/alexandre/workspace/sofa/install/lib/libSofa.Component.Topology.Container.Dynamic.so
[ERROR]   [SofaRuntime] ValueError: Object type FreeMotionAnimationLoop<> was not created  
The object 'FreeMotionAnimationLoop' is not in the factory.  
This component has been MOVED from SofaConstraint to Sofa.Component.AnimationLoop since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.AnimationLoop'/>  

Traceback (most recent call last):
  File "/home/alexandre/workspace/sofa/src/sofa/benchmark/benchmark_viscous.py", line 284, in <module>
    limit_speed_accuracy()
  File "/home/alexandre/workspace/sofa/src/sofa/benchmark/benchmark_viscous.py", line 255, in limit_speed_accuracy
    createScene(root, dt=1e-4, m=m, alpha=alpha, g=g)
  File "/home/alexandre/workspace/sofa/src/sofa/benchmark/benchmark_viscous.py", line 29, in createScene
    rootNode.addObject('FreeMotionAnimationLoop')

[WARNING] [SofaSimulationCore] the library has not been cleaned up (sofa::simulation::core::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaCore] the library has not been cleaned up (sofa::core::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaDefaultType] the library has not been cleaned up (sofa::defaulttype::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaHelper] the library has not been cleaned up (sofa::helper::cleanup() has never been called, see sofa/helper/init.h)

[aleblanc30]

I can't seem to reproduce the error I was getting yesterday. FYI @damienmarchal, I'm working on this fork/branch : https://github.com/aleblanc30/sofa/tree/viscous

[aleblanc30]

I noticed that the issue was appearing only with when using the sofapython3 plugin. I figured out it was an issue with my build, and managed to fix it.

[aleblanc30]

I'm still having issues with how to pass multiple parameters to the FrictionContacts, though

[aleblanc30]

I figured out how to pass multiple parameters to the ContactResponse, they must actually be separated by an &, so instead of :

rootNode.addObject('CollisionResponse', name='Response', response='FrictionContactConstraint', responseParams=f'mu=0.,alpha={alpha}')

I need to write :

rootNode.addObject('CollisionResponse', name='Response', response='FrictionContactConstraint', responseParams=f'mu=0.&alpha={alpha}')