Defrost SOFA Bundle

This is a bundle of SOFA binaries specially intented for soft robotics.

The usage is limited to academia: research and teaching.

The bundle contains:

• SOFA
• SofaPython3
• STLIB
• SoftRobots
• SoftRobots.Inverse (private repository)
• BeamAdapter
• Cosserat
• ModelOrderReduction

---

Windows

To open a Terminal: Start > type "cmd" > press Enter

Install the dependencies

1. Install Microsoft Visual C++ 2017 Redistributable.

2. Install python + pip
   Open a Terminal and run python -V
   If the command shows a version that is in [3.7 ; 3.9], skip to step 3.
   Else, install one of these compatible versions:

   • python 3.7 (amd64)
   • python 3.8 (amd64)
   • python 3.9 (amd64)

   Make sure to enable pip installation and addition to PATH.
   Open a Terminal and run python -V again. You should see the version of python you just installed.

3. Install numpy + Scipy
   Open a Terminal and run python -m pip install numpy scipy

Install the SOFA bundle for soft robotics

Go to https://github.com/SofaDefrost/DefrostSofaBundle/releases/ Download the ZIP corresponding to your system and the version of python you just installed.
Extract the ZIP on your Desktop.

Execute runSofa

Open a Terminal and run

cd %HOMEPATH%\Desktop\SOFA_BUNDLE_*
set PYTHONPATH=plugins\SofaPython3\lib\python3\site-packages
set PYTHONPATH=%PYTHONPATH%;plugins\STLIB\lib\python3\site-packages 
bin\runSofa.exe

---

Ubuntu

Install the dependencies

1. Install libopengl0
   sudo apt install libopengl0

2. Install python + pip
   Open a Terminal and run python3 -V
   If the command shows a version that is in [3.7 ; 3.10], skip to step 3.
   Else, search which compatible version is proposed by your package manager:

   sudo apt update
   sudo apt info python3 | grep -i 'version: '

   If the proposed version is in [3.7 ; 3.10] then install it

   sudo apt install python3-dev python3-distutils
   curl -L https://bootstrap.pypa.io/pip/get-pip.py --output /tmp/get-pip3.py
   python3 /tmp/get-pip3.py

   Open a Terminal and run python3 -V again. You should see the version of python you just installed.

3. Install numpy + scipy
   Open a Terminal and run

   python3 -m pip install --upgrade pip
   python3 -m pip install numpy scipy

Install the SOFA bundle for soft robotics

Go to https://github.com/SofaDefrost/DefrostSofaBundle/releases/ Download the ZIP corresponding to your system and the version of python you just installed.
Extract the ZIP on your Desktop.

Execute runSofa

Open a Terminal and run

cd ~/Desktop/SOFA_BUNDLE_*
export PYTHONPATH=plugins/SofaPython3/lib/python3/site-packages 
export PYTHONPATH=$PYTHONPATH:plugins/STLIB/lib/python3/site-packages 
./bin/runSofa

---

MacOS

Install the dependencies

1. Install python + pip
   Open a Terminal and run python3 -V
   If the command shows a version that is in [3.7 ; 3.10], skip to step 2.
   Else, search which compatible version is proposed by your package manager:

   brew update
   brew info python

   If the proposed version is in [3.7 ; 3.10] then install it

   brew install python

   Open a Terminal and run python3 -V again. You should see the version of python you just installed.

2. Install numpy + scipy
   Open a Terminal and run

   python3 -m pip install --upgrade pip
   python3 -m pip install numpy scipy

Install the SOFA bundle for soft robotics

Go to https://github.com/SofaDefrost/DefrostSofaBundle/releases/ Download the ZIP corresponding to your system and the version of python you just installed.
Extract the ZIP in your User folder.

Execute runSofa

Open a Terminal and run

cd ~/SOFA_BUNDLE_*
export PYTHONPATH="plugins/SofaPython3/lib/python3/site-packages"
export PYTHONPATH=$PYTHONPATH:"plugins/STLIB/lib/python3/site-packages" 
./bin/runSofa