FluidLab

This repo contains FluidLab, a simulation platform containing both FluidEngine and a set of standardized fluid manipulation tasks proposed in the FluidLab ICLR 2023 submission.

Paper submission: https://openreview.net/forum?id=Cp-io_BoFaE&noteId=EE5yG3TBxS

Project site: https://sites.google.com/view/fluidlab

Setting up environment

Create conda env.

conda env create -f environment.yml
conda activate fluidlab

(I hope this env file is complete. If not, install required packages when prompted with error when running the code.)

Install FluidLab.

pip install -e .

Compiling GLRenderer (our own renderer)

We have two types of renderers: GGUIRenderer and GLRenderer. GGUI is provided by Taichi. GL is our own, with better visual effects.

GLRenderer is developped in C++ and needs to be compiled first. Compiling only works with cuda 9.2. So we need a docker.

Install docker-ce and nvidia-docker

Under FluidLab:

sudo docker build -t fluidlab-glrenderer fluidlab/engine/renderers/gl_renderer_src
sudo nvidia-docker run \
  -v ${PWD}/fluidlab/engine/renderers/gl_renderer_src:/workspace \
  -v /home/{username}/anaconda3:/home/{username}/anaconda3 \
  --gpus all \
  -e DISPLAY=$DISPLAY \
  -e QT_X11_NO_MITSHM=1 \
  -it fluidlab-glrenderer:latest bash

. /home/{username}/anaconda3/bin/activate fluidlab
. prepare.sh
. compile.sh

Running exps (Use latte art as an example)

Generate goal

python fluidlab/run.py --cfg_file configs/exp_latteart.yaml --record

A GUI window will pop up. Use your mouse to control the agent and generate a goal pattern you want.

Solve trajectory with differentiable physics

python fluidlab/run.py --cfg_file configs/exp_latteart.yaml --exp_name exp_latteart

Optimized trajectories will be saved under FluidLab/logs/policies/{exp_name}.

Replay optimized trajectory

python fluidlab/run.py --cfg_file configs/exp_latteart.yaml --replay --path FluidLab/logs/policies/exp_latteart/100.pkl

Commands for running other exps are available in exp.sh. Commands for running demos are available in demo.sh.