Migration Guide

note

This document outlines the steps required to migrate your simulation python scripts between releases.
If not mentioned here, your scripts should work without any modification.

Migrate from v25.12 to v26.06

In order to avoid possible conflicts, all the Emio-related Python packages have been moved to the new emio package. This means that the use of the parts, utils packages and parameters module is now deprecated. You will have until v26.12 to update your code.

To use them, start from the emio package. Also, the Emio, EmioGUI classes and getParserArgs function are now available directly from the emio package.

For example:

    from emio import Emio, getParserArgs # The Emio class is available directly from the emio package
    from emio.parts.controllers.assemblycontroller import AssemblyController # parts modules are available from emio.parts
    from emio.utils.header import addHeader, addSolvers # utils modules are now available from emio.utils
    import emio.parameters as parameters # parameters module is available from emio

Migrate from v24.12 to v25.06

1. Sofa.ImGui.getRobotConnection() has been removed. Use Sofa.ImGui.getRobotConnectionToggle() instead. Corresponding error message: AttributeError: module 'Sofa.ImGui' has no attribute 'getRobotConnection'
2. The method Sofa.ImGui.MoveWindow.setActuators() should be called before Sofa.ImGui.MoveWindow.setActuatorsLimits(). Corresponding warning message: Calling setActuatorsLimits() without any actuators set. Won't proceed.To fix this warning you can call setActuators() before calling setActuatorsLimits().