/gripper_cloth_envs

SOFA/PhysX/MuJoCo/Bullet environments for testing gripper and cloth interaction

Primary LanguageC++

gripper_cloth_envs

SOFA/PhysX/MuJoCo/Bullet environments for testing gripper and cloth interaction

SOFA: Simulation Open Framework Architecture

To use:

  1. Compile SOFA (tested on v19.06) and SoftRobots plugin;

  2. Move obj files in assets to $SOFA_ROOT_DIR/src/share/mesh/ because the loader seems to always load from there...

  3. Run SOFA simulator runSofa from build directory; the installed one cannot correctly load the python script;

  4. Load the python script by opening it as a scene; Press Animate button to start the simulation;

  5. Use CTRL+UP/DOWN/LEFT/RIGHT/+/- to move and open/close the gripper.

PhysX 3.4 (Need to join NVIDIAGameWorks organization)

To use:

  1. Build PhysX 3.4; Note that PxCloth is deprecated after 3.4 and NvCloth is now the product for cloth simulation;

  2. Modify the path in env.sh to point to your PhysX SDK folder and source env.sh;

  3. mkdir build and cd build and cmake ..

  4. make and run ./SnippetGripperCloth

  5. Press SPACE to run the simulation; use J/K/L/I/O/P to move and open/close the gripper.

MuJoCo 2.0.0 and mujoco_py

To use:

  1. Install mujoco_py;

  2. Run the python script;

  3. Use A/S/D/W/O/P to move and open/close the gripper.

Note: the simulation window got stuck if we choose to render cloth texture. Looks like an issue of mujoco_py because the original mujoco example works.

Bullet3

To use:

  1. Build bullet3; Tested on commits on Aug 14th, 2020; Simulating deformable bodies appears to be faster on commits of Apr 3rd, 2020;

  2. Modify the path in env.sh to point to your Bullet SDK folder and source env.sh;

  3. mkdir build and cd build and cmake ..

  4. make and run ./App_GripperClothGui

  5. Press SPACE to run the simulation; use UP/DOWN/LEFT/RIGHT/O/P to move and open/close the gripper.

Note: The tested commits introduce new ways of simulating soft dynamics as DeformableMultiBody, in contrast to original SoftBody. The environment uses a macro USE_DEFORMABLE_BODY in App_GripperCloth.h to disable/enable the old solver.