VisualLoop expected at the root node

[DarkKnightCyd]

I tried using SofaPython by following the docs, but the code could not run well. In Sofa Gui there's nothing showed up and the error is:

[ERROR] [Simulation] Simulation::initTextures() : VisualLoop expected at the root node Perhaps it's related to the version of Sofa, my version is Sofa v24.12.00 and python 3.12.9. How to solve this problem? Appreciate your help! Here's my code:

import Sofa
import Sofa.Gui
import SofaRuntime
import Sofa.Component

SofaRuntime.importPlugin("Sofa.Component")
SofaRuntime.importPlugin("Sofa.Component.Collision.Detection.Algorithm")
import Sofa.Core

def main():
    # Call the SOFA function to create the root node
    root = Sofa.Core.Node("root")


    # Call the createScene function, as runSofa does
    createScene(root)

    # Once defined, initialization of the scene graph
    Sofa.Simulation.init(root)

    # Launch the GUI (qt or qglviewer)
    Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
    Sofa.Gui.GUIManager.createGUI(root, __file__)
    Sofa.Gui.GUIManager.SetDimension(1080, 800)



    # Initialization of the scene will be done here
    Sofa.Gui.GUIManager.MainLoop(root)



    Sofa.Gui.GUIManager.closeGUI()


def createScene(rootNode):
    plugins = [
        "Sofa.Component.Collision.Detection.Algorithm",
        "Sofa.Component.Collision.Detection.Intersection",
    ]
    for plugin in plugins:
        rootNode.addObject("RequiredPlugin", pluginName=plugin, name=plugin)
    # Define the root node properties
    #rootNode.addObject('VisualLoop')
    rootNode.addObject("VisualGrid", nbSubdiv=10, size=1000)

    rootNode.gravity=[0.0,-9.81,0.0]
    rootNode.dt=0.01

    # Loading all required SOFA modules
    confignode = rootNode.addChild("Config")
    confignode.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.Mass", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.StateContainer", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.Component.Visual", printLog=False)
    confignode.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D", printLog=False)
    confignode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")


    # Collision pipeline
#    rootNode.addObject('VisualLoop')
    rootNode.addObject('CollisionPipeline')
    rootNode.addObject('FreeMotionAnimationLoop')
    rootNode.addObject('GenericConstraintSolver', tolerance="1e-6", maxIterations="1000")
    rootNode.addObject('BruteForceBroadPhase')
    rootNode.addObject('BVHNarrowPhase')
    rootNode.addObject('RuleBasedContactManager', responseParams="mu="+str(0.0), name='Response', response='FrictionContactConstraint')
    rootNode.addObject('LocalMinDistance', alarmDistance=10, contactDistance=5, angleCone=0.01)


    totalMass = 1.0
    volume = 1.0
    inertiaMatrix=[1., 0., 0., 0., 1., 0., 0., 0., 1.]


    sphere = rootNode.addChild("sphere")
    sphere.addObject('EulerImplicitSolver', name='odesolver')
    sphere.addObject('CGLinearSolver', name='Solver', iterations=25, tolerance=1e-05, threshold=1e-05)
    sphere.addObject('MechanicalObject', name="mstate", template="Rigid3", translation2=[0., 0., 0.], rotation2=[0., 0., 0.], showObjectScale=50)
    sphere.addObject('UniformMass', name="mass", vertexMass=[totalMass, volume, inertiaMatrix[:]])
    sphere.addObject('UncoupledConstraintCorrection')

    #### Collision subnode for the sphere
    collision = sphere.addChild('collision')
    collision.addObject('MeshOBJLoader', name="loader", filename="mesh/ball.obj", triangulate="true", scale=45.0)
    collision.addObject('MeshTopology', src="@loader")
    collision.addObject('MechanicalObject')
    collision.addObject('TriangleCollisionModel')
    collision.addObject('LineCollisionModel')
    collision.addObject('PointCollisionModel')
    collision.addObject('RigidMapping')

    #### Visualization subnode for the sphere
    sphereVisu = sphere.addChild("VisualModel")
    sphereVisu.loader = sphereVisu.addObject('MeshOBJLoader', name="loader", filename="mesh/ball.obj")
    sphereVisu.addObject('OglModel', name="model", src="@loader", scale3d=[50]*3, color=[0., 1., 0.], updateNormals=False)
    sphereVisu.addObject('RigidMapping')


    # Creating the floor object
    floor = rootNode.addChild("floor")

    floor.addObject('MechanicalObject', name="mstate", template="Rigid3", translation2=[0.0,-300.0,0.0], rotation2=[0., 0., 0.], showObjectScale=5.0)
    floor.addObject('UniformMass', name="mass", vertexMass=[totalMass, volume, inertiaMatrix[:]])

    #### Collision subnode for the floor
    floorCollis = floor.addChild('collision')
    floorCollis.addObject('MeshOBJLoader', name="loader", filename="mesh/floor.obj", triangulate="true", scale=5.0)
    floorCollis.addObject('MeshTopology', src="@loader")
    floorCollis.addObject('MechanicalObject')
    floorCollis.addObject('TriangleCollisionModel', moving=False, simulated=False)
    floorCollis.addObject('LineCollisionModel', moving=False, simulated=False)
    floorCollis.addObject('PointCollisionModel', moving=False, simulated=False)
    floorCollis.addObject('RigidMapping')

    #### Visualization subnode for the floor
    floorVisu = floor.addChild("VisualModel")
    floorVisu.loader = floorVisu.addObject('MeshOBJLoader', name="loader", filename="mesh/floor.obj")
    floorVisu.addObject('OglModel', name="model", src="@loader", scale3d=[5.0]*3, color=[1., 1., 0.], updateNormals=False)
    floorVisu.addObject('RigidMapping')


    return rootNode


# Function used only if this script is called from a python environment
if __name__ == '__main__':
    main()