This tutorial/toolbox was tested with Gmsh 4.9.3 [1] and the SOFA v21.12 binaries including the SoftRobots-plugin (v21.12) for Linux and Windows. The binaries for SOFA and the SoftRobots-plugin can be found here [2]. Alternatively, you can use the more recent binaries v22.06, including the SoftRobots.Inverse plugin [4]. Especially for Windows, don't forget to read the instructions [3]. In any case, be aware of the python version you need to have installed on your system.
[1] Install using pip ($pip install gmsh==4.9.3)
[2] https://www.sofa-framework.org/download/
[3] https://github.com/sofa-framework/sofa/releases/tag/v21.12.00
[4] https://project.inria.fr/softrobot/install-get-started-2/download/
At this time, the tutorial/toolbox is being developed standalone, but it might be merged into the SoftRobots-plugin for SOFA in future.
Before being able to launch any scene, the geometries have to be created. For instance, for the finger, you need to run the corresponding script, i.e. "$python3 FingerGeneration.py", found in the folder Finger/Scenes/Geometries. In the same folder, the script "Constants.py" contains the parameters that describe the finger. After generation, the simulation can be launched, e.g. "$runSofa Finger_Direct.py" in the folder Finger/Scenes.
For the finger, in the folder Finger/Scenes/Geometries, you will find the scripts needed to generate the molds. A more in depth explanation will be provided in the future.