crtie / SoftMAC

Code repository for our paper SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothes

SoftMAC

[Note]: This code repository will undergo a code refactoring in December, 2023.

Implemetation for our paper "SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothes" (in submission).

[project website] [paper link]

Installation

We provide soft-rigid and soft-cloth coupling separately. You can install them following the instructions in soft_rigid/README.md and soft_cloth/README.md.

(The underlying simulator for clothes is not open-source yet. We will update the links later.)

Demos

We optimize the action sequences with SoftMAC for each task.

Demo 1: Pour wine

# run under ./soft_rigid
python3 demo_pour.py

Demo 2: Squeeze plasticine

# run under ./soft_rigid
python3 demo_grip.py

Demo 3: Pull door

# run under ./soft_rigid
python3 demo_door.py

Demo 4: Make taco

# run under ./soft_cloth
python3 demo_taco.py

Demo 5: Push towel

# run under ./soft_cloth
python3 demo_hit.py

Note

Feel free to contact me at [e-mail] or create a Github issue if you have questions regarding setting up the repository, running examples or adding new examples.

Citation

If you find our work useful, please consider citing:

@article{liu2023softmac,
  title={SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothes},
  author={Liu, Min and Yang, Gang and Luo, Siyuan and Yu, Chen and Shao, Lin},
  journal={arXiv preprint arXiv:2312.03297},
  year={2023}
}