Skip to content

README.md

Latest commit

 

History

History
73 lines (55 loc) · 3.55 KB

README.md

File metadata and controls

73 lines (55 loc) · 3.55 KB

NVIDIA Source Code License Python 3.7

PlushSim

Our PlushSim simulation environment is based on Omniverse Kit. This codebase contains the docker image and the code to simulate and manipulate deformable objects.

Prerequisites

Omniverse Kit has a set of hardware requirements. Specifically, it requires a RTX gpu (e.g. RTX 2080, RTX 30x0, Titan RTX etc.). Also, a 16GB+ memory is recommended.

The codebase is tested on Linux Ubuntu 20.04.

Getting the Docker Image

First, you need to install Docker and NVIDIA Container Toolkit before proceeding.

After you have installed Docker and NVIDIA container toolkit, you can obtain the PlushSim Docker image from DockerHub, with command:

docker pull b0ku1/acid-docker:cleaned

Preparing Simulation Assets

You can download the simulation assets raw_assets.zip at: Google Drive.

After you download it, unzip the assets within this directory. You should have a folder structure like:

PlushSim/
    assets/
        animals/
          ...
        attic_clean/
          ...

Generating Manipulation Trajectories

Generating manipulation data consists of two steps:

  1. Start Docker image, and mount the correct directory.
  2. Run script

To start the docker image with an interactive session, run the following command inside PlushSim/:

export PLUSHSIM_ROOT=$(pwd)
docker run -it -v $PLUSHSIM_ROOT:/result --gpus all b0ku1/acid-docker:cleaned bash

Aftery entering the interactive session, you can run the following commands to start generating manipulation trajectories:

./python.sh /result/scripts/data_gen_attic.py

The above scripts will generate sample interaction sequences in PlushSim/interaction_sequence. There are various command line arguments that you can give to data_gen_attic.py. Please see documentation of the python script.

Visualizing the assets in GUI

To visualize the assets in Omniverse GUI, you need to download and install Omniverse. The link contains NVIDIA's official instruction for installation.

After you install Omniverse, you can open the .usda files in the assets folder. To run PlushSim's scripts outside of Docker (e.g. with your native Omniverse installation), you can find more information at Omniverse Kit's Python Manual. For questions regarding Omniverse usage, please visit NVIDIA developer forum.

License

Please check the LICENSE file. ACID may be used non-commercially, meaning for research or evaluation purposes only. For business inquiries, please contact researchinquiries@nvidia.com.

If you find our code or paper useful, please consider citing

@article{shen2022acid,
  title={ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation},
  author={Shen, Bokui and Jiang, Zhenyu and Choy, Christopher and J. Guibas, Leonidas and Savarese, Silvio and Anandkumar, Anima and Zhu, Yuke},
  journal={Robotics: Science and Systems (RSS)},
  year={2022}
}