Caribou Eigen Sparse Segfault

scene.py

import Sofa
import numpy as np
import copy


class Beam(Sofa.Core.Controller):
    def __init__(self, node, *args, **kwargs):
        Sofa.Core.Controller.__init__(self, *args, **kwargs)
        self.gridShape = (4, 4, 16, 3)
        self.createGraph(node)

    def createGraph(self, rootNode):
        
#  /root/mechanical_node/
        mechanical_node = rootNode.addChild('mechanical')

        # Time integration using caribou components
        self.solver = mechanical_node.addObject(
            'StaticODESolver',
            newton_iterations=10,
            correction_tolerance_threshold=1e-3,
            residual_tolerance_threshold=1e-3,
            shoud_diverge_when_residual_is_growing=False,
            printLog=False
        )
        mechanical_node.addObject(
            'ConjugateGradientSolver',
            name='CGSolver',
            preconditioning_method='IncompleteCholesky',
            maximum_number_of_iterations=2000,
            residual_tolerance_threshold=1.e-9,
            printLog=False
        )

        ## Regular grid topology describing the beam
        mechanical_node.addObject('RegularGridTopology',
                                  nx=self.gridShape[2], ny=self.gridShape[1], nz=self.gridShape[0], name='grid',
                                  min='0 0 0',
                                  max='3.75 0.75 0.75'
                                  )
        ## Hexa topology
        mechanical_node.addObject('HexahedronSetTopologyContainer', name='hexa_topology', src='@grid')
        mechanical_node.addObject('HexahedronSetGeometryAlgorithms', template='Vec3d', name='GeomAlgo')
        mechanical_node.addObject('HexahedronSetTopologyModifier')
   
        ## Mechanical object
        self.behavior_state = mechanical_node.addObject(
            'MechanicalObject',
            src='@grid', name='mo', showObject=False
        )

        self.elastic_law = mechanical_node.addObject(
            'HexahedronElasticForce',
            corotated=False,
            youngModulus=5000,
            poissonRatio=0.4,
            topology_container='@hexa_topology',
        )
     

        ## Fixed points
        mechanical_node.addObject('BoxROI',box='0 0 0 0 0.75 0.75',name='fixed_box')
        mechanical_node.addObject(
            'FixedConstraint',
            indices='@fixed_box.indices')

#  /root/mechanical_node/collision
        ## Collision model for external force application
        collision_node = mechanical_node.addChild('collision')
        collision_node.addObject('VisualStyle', name="visu", displayFlags='hideWireframe')
        collision_node.addObject(
            'RegularGridTopology',
            nx=1, ny=self.gridShape[1], nz=self.gridShape[0],
            name='gridTip',
            min='3.75 0.0 0.',
            max='3.75 0.75 0.75'
        )
        collision_node.addObject(
            'MechanicalObject',
            tags="learnOn",
            name="Submo",
            src="@gridTip",
            showObject=True, showObjectScale=5, showColor=[1, 0, 0, 1]
        )
        collision_node.addObject(
            'ConstantForceField',
            name='CFF', force='0 -10 0', indices='15', showArrowSize='0.1'
        )
        collision_node.addObject('BarycentricMapping')

        #  /root/mechanical_node/visual
        visual_node = mechanical_node.addChild('visual')
        visual_node.addObject('OglModel', name="oglModel", src='@../grid', color='white')
        

def createScene(rootNode):
    rootNode.addObject('AttachBodyButtonSetting', name='mouse', stiffness='1.0')
    rootNode.addObject('DefaultPipeline', depth='6', verbose='0', draw='0', name='DefaultCollisionPipeline')
    rootNode.addObject('BruteForceDetection', name='Detection')
    rootNode.addObject('DiscreteIntersection', name='Intersection')
    rootNode.addObject('ViewerSetting', name='viewer')
    rootNode.addObject('BackgroundSetting', name='ViewerBGcolor', color='0.1 0.1 0.1')
    rootNode.addObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels showForceFields showWireframe')
    rootNode.addObject(Beam(rootNode))
    return rootNode


root = Sofa.Core.Node()
root.dt = 0.01
root.name = 'root'
root.gravity = [0.0, 0.0, 0.0]