PyFleX

Install

# 1) install anaconda (https://docs.anaconda.com/free/anaconda/install/linux/)
# 2) install docker-ce (https://docs.docker.com/engine/install/ubuntu/)
# 3) install nvidia-container-toolkit (https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
# 4) restart docker by `sudo systemctl restart docker` (docker service name can be found by `sudo systemctl list-units --type=service | grep -i docker`)

# preparations
cd third-party
git clone git@github.com:kywind/PyFleX.git
conda install pybind11 -c conda-forge  # or pip install "pybind11[global]"
sudo docker pull xingyu/softgym

# compile pyflex in docker image
# re-compile if source code changed
# make sure ${PWD}/PyFleX is the pyflex root path when re-compiling
sudo docker run \
    -v ${PWD}/PyFleX:/workspace/PyFleX \
    -v ${CONDA_PREFIX}:/workspace/anaconda \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    --gpus all \
    -e DISPLAY=$DISPLAY \
    -e QT_X11_NO_MITSHM=1 \
    -it xingyu/softgym:latest bash \
    -c "export PATH=/workspace/anaconda/bin:$PATH; cd /workspace/PyFleX; export PYFLEXROOT=/workspace/PyFleX; export PYTHONPATH=/workspace/PyFleX/bindings/build:$PYTHONPATH; export LD_LIBRARY_PATH=$PYFLEXROOT/external/SDL2-2.0.4/lib/x64:$LD_LIBRARY_PATH; cd bindings; mkdir build; cd build; /usr/bin/cmake ..; make -j"

# run these if you do not have these paths yet in ~/.bashrc
echo '# PyFleX' >> ~/.bashrc
echo "export PYFLEXROOT=${PWD}/PyFleX" >> ~/.bashrc
echo 'export PYTHONPATH=${PYFLEXROOT}/bindings/build:$PYTHONPATH' >> ~/.bashrc
echo 'export LD_LIBRARY_PATH=${PYFLEXROOT}/external/SDL2-2.0.4/lib/x64:$LD_LIBRARY_PATH' >> ~/.bashrc
echo '' >> ~/.bashrc

# finally, restart the terminal

Try pre-compiled demo

click on /PyFleX/precompiled_demo/linux64/NvFlexDemoReleaseCUDA_x64 or run ./precompiled_demo/linux64/NvFlexDemoReleaseCUDA_x64 inside /PyFleX.

Run Examples

python examples/test_BoxBath.py

Scenes

NOTE: Not all scenes are supported yet. (I'm working on this now.) Check example python files under examples/ for supported scenes!

# Example usage
scene_idx = your_scene_idx
scene_params = np.array([your_scene_params])
pyflex.set_scene(scene_idx, scene_params, 0)

scene_idx	Source
0	`bindings/scenes/yz_bunnybath.h`
1	`bindings/scenes/yz_boxbath.h`
2	`bindings/scenes/yz_boxbathext.h`
3	`bindings/scenes/yz_dambreak.h`
4	`bindings/scenes/yz_rigidfall.h`
5	`bindings/scenes/yz_ricefall.h`
6	`bindings/scenes/yz_softbody.h`
7	`bindings/scenes/yz_fluidshake.h`
8	`bindings/scenes/yz_fluidiceshake.h`
9	`bindings/scenes/yz_massrope.h`
10	`bindings/scenes/yz_flag.h`
11	`bindings/scenes/yz_softrod.h`
12	`bindings/scenes/yz_clothrigid.h`
13	`bindings/scenes/yz_granular.h`
14	`bindings/scenes/yz_bunnygrip.h`
15	`bindings/scenes/yz_clothmanip.h`
16	`bindings/scenes/yz_softfall.h`
17	`bindings/scenes/yz_fluidpour.h`
18	`bindings/scenes/yz_granularmanip.h`
19	`bindings/scenes/yz_fluid_and_box.h`
20	`bindings/scenes/yx_coffee.h`
21	`bindings/scenes/yx_capsule.h`
22	`bindings/scenes/yx_carrots.h`
23	`bindings/scenes/yx_coffee_capsule.h`
24	`bindings/scenes/by_apple.h`
25	`bindings/scenes/by_singleycb.h`
26	`bindings/scenes/by_softrope.h`
27	`bindings/scenes/by_cloth.h`
28	`bindings/scenes/by_multiycb.h`
29	`bindings/scenes/by_softgym_cloth.h`
30	`bindings/scenes/softgym_cloth_2.h`
31	`bindings/scenes/by_roperigid.h`
32	`bindings/scenes/by_rigidgranular.h`
33	`bindings/scenes/by_rigidcloth.h`
34	`bindings/scenes/by_ropecloth.h`
35	`bindings/scenes/by_granular.h`
36	`bindings/scenes/by_bowlfluid.h`
37	`bindings/scenes/by_softbody.h`
38	`bindings/scenes/by_ropegranular.h`
39	`bindings/scenes/by_rigidrope.h`