Skip to content
master
Switch branches/tags
Code

Latest commit

 

Git stats

Files

Permalink
Failed to load latest commit information.
Type
Name
Latest commit message
Commit time
Sep 4, 2019
Nov 30, 2020
sim
Dec 27, 2019
Dec 11, 2019

SoftCon: Simulation and Control of Soft-Bodied Animals with Biomimetic Actuators

SoftCon

The octopus swims by actuating muscles embedded in the soft tissues.

Abstract

SoftCon is an open source code that implements the work SoftCon: Simulation and Control of Soft-Bodied Animals with Biomimetic Actuators. With our framework, user can generate the swimming animation of under-water animals with deformable body simulator, biomimetic muscle pattern generator, and swimming controller based on deep reinforcement learning. This code is written in C++ and Python, based on Tensorflow and OpenAI Baselines.

Publication

Sehee Min, Jungdam Won, Seunghwan Lee, Jungnam Park, and Jehee Lee. 2019. SoftCon: Simulation and Control of Soft-Bodied Animals with Biomimetic Actuators. ACM Trans. Graph. 38, 6, 208. (SIGGRAPH Asia 2019)

Project page : http://mrl.snu.ac.kr/publications/ProjectSoftCon/SoftCon.html
Paper : http://mrl.snu.ac.kr/publications/ProjectSoftCon/SoftCon.pdf
Youtube : https://www.youtube.com/watch?v=I2ylkhPSkT4
Blog : http://mrl.snu.ac.kr/blog/ProjectSoftCon

How to install

We recommend users to install and run this framework on Ubuntu. We checked code works in Ubuntu 16.04 and 18.04.

C++

Basic C++ library

sudo apt-get update
sudo apt-get install build-essential cmake-curses-gui git
sudo apt-get install libeigen3-dev freeglut3-dev libtinyxml-dev libpython3-dev python3-numpy libopenmpi-dev

Boost 1.66 with Python3 : Boost library should install from the source code!

cd boost_1_66_0
sudo ./bootstrap.sh --with-python=python3
sudo ./b2 --with-python --with-filesystem --with-system install

Python

Virtual environment

sudo apt-get install python3-pip
sudo pip3 install virtualenv
virtualenv venv
source venv/bin/activate

Python library with pip install

pip install numpy
pip install scipy
pip install matplotlib
pip install tensorflow
pip install mpi4py
pip install OpenCV-Python

Baselines Installation for Deep RL

  • OpenAI Gym
pip install gym
  • OpenAI Baselines
sudo apt-get update && sudo apt-get install cmake zlib1g-dev
git clone https://github.com/openai/baselines.git
cd baselines
pip install -e .

How to compile & run

Install this repository

git clone http://github.com/seiing/SoftCon

Build

cd SoftCon
mkdir build
cd build 
cmake ..
make -j8

Run

Default render

./render/render
  • space : play/pause.
  • k : play with default key.
  • r :reset the scene.

Render with trained network

./render/render (network_name)

Training

cd SoftCon/learn
mpirun -np 8 python3 -m run --type=train

Contact us

  • For bug reports/requests/suggestions, use github issues.
  • For private inquiries, feel free to contact us at: sehee@mrl.snu.ac.kr

About

Author's implementation of SoftCon: Simulation and Control of Soft-Bodied Animals with Biomimetic Actuators (SIGGRAPH Asia 2019 Technical Paper)

Topics

Resources

License

Releases

No releases published

Packages

No packages published