sapienipc-exp

SapienIPC experimental release. This release is temporary and will not be maintained. We will release a stable version soon.

This program may be freely redistributed under the condition that the copyright notices (including this entire header) are not removed, and no compensation is received. Private, research, and institutional use is free. You may distribute modified versions of this code UNDER THE CONDITION THAT THIS CODE AND ANY MODIFICATIONS MADE TO IT IN THE SAME FILE REMAIN UNDER COPYRIGHT OF THE ORIGINAL AUTHOR, BOTH SOURCE AND OBJECT CODE ARE MADE FREELY AVAILABLE WITHOUT CHARGE, AND CLEAR NOTICE IS GIVEN OF THE MODIFICATIONS. Distribution of this code as part of a commercial system is permissible ONLY BY DIRECT ARRANGEMENT WITH THE AUTHOR. (If you are not directly supplying this code to a customer, and you are instead telling them how they can obtain it for free, then you are not required to make any arrangement with me.)

Requirements:

For running Warp:

Python 3.8.x-3.11.x
pip install numpy

For running SapienIPC:

pip install meshio
PyTorch version that is compatible with your CUDA

For building Warp:

GCC 7.2 upwards (Linux)
CUDA Toolkit 11.8 or higher
Git LFS installed (https://git-lfs.github.com/)

Installation

Step 1: Clone this repo recursively

First, clone this repo recursively so that the submodule warp_ is cloned:

git clone --recurse-submodules git@github.com:Rabbit-Hu/sapienipc-exp.git
cd sapienipc-exp
pip install -r requirements.txt

Step 2: Install our fork of Warp

Then build our fork of Warp in the warp_ submodule:

cd warp_
python build_lib.py --cuda_path /usr/local/cuda  # Replace with your cuda path

Install the Warp package into your python environment:

pip install -e .

Step 2: Install SAPIEN

Use pip to install the latest SAPIEN 3 wheel from SAPIEN Nightly Release. Look for your own python version.

The installation command should look like this:

pip install https://github.com/haosulab/SAPIEN/releases/download/nightly/sapien-3.0.0.dev{SOME_DATE}-cp{PYTHON_VERSION}-cp3{PYTHON_VERSION}-manylinux2014_x86_64.whl

See the SAPIEN repo for reference.

Step 3: Install Warp IPC for SAPIEN (this Repo)

cd sapienipc-exp  # directory of this repo
pip install -e .

You can try running an example:

python examples/example_peg.py