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haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
https://maniskill.ai/
Apache License 2.0
723 stars 128 forks source link

make new soft body #268

Open nutsintheshell opened 5 months ago

nutsintheshell commented 5 months ago

Dear authors, Your work is pretty good. I'd like to make some soft bodies in your environment. I'm wondering is there a way to make my own soft models or load a soft model from other paper. Thanks for your reply. Additional, I know how to load a model by ursf file in the environment(but only rigid object). Is there a similar standard way to add soft model in your environment?

StoneT2000 commented 3 months ago

@fbxiang

fbxiang commented 3 months ago

The MPM based soft body is currently available in ManiSkill 2 (v0.5.3 branch of this repo). Assuming you are using that branch, you can take a look at one of the soft body envs to see how soft bodies are added. Essentially at initialization, we add particles uniformly distributed in a volume into the scene. For example, the Pour env samples particles from a cylinder. There is no standard file formats for creating soft body, but you can always just create some procedure to sample from mesh volumes and use regular watertight meshes as your soft body representation.

nutsintheshell commented 3 months ago

The MPM based soft body is currently available in ManiSkill 2 (v0.5.3 branch of this repo). Assuming you are using that branch, you can take a look at one of the soft body envs to see how soft bodies are added. Essentially at initialization, we add particles uniformly distributed in a volume into the scene. For example, the Pour env samples particles from a cylinder. There is no standard file formats for creating soft body, but you can always just create some procedure to sample from mesh volumes and use regular watertight meshes as your soft body representation.

Thanks for your reply. I 've tried to make my soft body successfully.