├── .gitignore ├── Dockerfile ├── PyFlex ├── .gitignore ├── LICENSE.txt ├── README.md ├── bindings │ ├── CMakeLists.txt │ ├── benchmark.h │ ├── demoContext.h │ ├── helpers.h │ ├── imgui.cpp │ ├── imgui.h │ ├── main.cpp │ ├── opengl │ │ ├── demoContextOGL.h │ │ ├── imguiRenderGL.cpp │ │ ├── imguiRenderGL.h │ │ ├── shader.cpp │ │ ├── shader.h │ │ ├── shadersGL.cpp │ │ └── utilsGL.h │ ├── pyflex.cpp │ ├── scenes.h │ ├── scenes │ │ ├── adhesion.h │ │ ├── armadilloshower.h │ │ ├── bananas.h │ │ ├── bouyancy.h │ │ ├── bunnybath.h │ │ ├── ccdfluid.h │ │ ├── clothlayers.h │ │ ├── dambreak.h │ │ ├── darts.h │ │ ├── debris.h │ │ ├── deformables.h │ │ ├── envcloth.h │ │ ├── flag.h │ │ ├── fluidblock.h │ │ ├── fluidclothcoupling.h │ │ ├── forcefield.h │ │ ├── frictionmoving.h │ │ ├── frictionramp.h │ │ ├── gamemesh.h │ │ ├── googun.h │ │ ├── granularpile.h │ │ ├── granularshape.h │ │ ├── inflatable.h │ │ ├── initialoverlap.h │ │ ├── lighthouse.h │ │ ├── localspacecloth.h │ │ ├── localspacefluid.h │ │ ├── lowdimensionalshapes.h │ │ ├── melting.h │ │ ├── mixedpile.h │ │ ├── nonconvex.h │ │ ├── parachutingbunnies.h │ │ ├── pasta.h │ │ ├── player.h │ │ ├── potpourri.h │ │ ├── rayleightaylor.h │ │ ├── restitution.h │ │ ├── rigidfluidcoupling.h │ │ ├── rigidpile.h │ │ ├── rigidrotation.h │ │ ├── rockpool.h │ │ ├── sdfcollision.h │ │ ├── shapechannels.h │ │ ├── shapecollision.h │ │ ├── softbody.h │ │ ├── spherecloth.h │ │ ├── surfacetension.h │ │ ├── tearing.h │ │ ├── thinbox.h │ │ ├── trianglecollision.h │ │ ├── triggervolume.h │ │ ├── viscosity.h │ │ └── waterballoon.h │ ├── shaders.h │ ├── shadersDemoContext.cpp │ ├── shadersDemoContext.h │ ├── softgym_scenes │ │ ├── softgym_cloth.h │ │ ├── softgym_fluid.h │ │ ├── softgym_rigid_cloth.h │ │ ├── softgym_rope.h │ │ ├── softgym_softbody.h │ │ └── softgym_torus.h │ ├── stb_truetype.h │ └── utils │ │ └── utils.h ├── core │ ├── aabbtree.cpp │ ├── aabbtree.h │ ├── cloth.h │ ├── convex.h │ ├── core.cpp │ ├── core.h │ ├── extrude.cpp │ ├── extrude.h │ ├── mat22.h │ ├── mat33.h │ ├── mat44.h │ ├── maths.cpp │ ├── maths.h │ ├── matnn.h │ ├── mesh.cpp │ ├── mesh.h │ ├── perlin.cpp │ ├── perlin.h │ ├── pfm.cpp │ ├── pfm.h │ ├── platform.cpp │ ├── platform.h │ ├── png.cpp │ ├── png.h │ ├── point3.h │ ├── quat.h │ ├── sdf.cpp │ ├── sdf.h │ ├── tga.cpp │ ├── tga.h │ ├── types.h │ ├── vec2.h │ ├── vec3.h │ ├── vec4.h │ ├── voxelize.cpp │ └── voxelize.h ├── external │ ├── SDL2-2.0.4 │ │ ├── BUGS.txt │ │ ├── COPYING.txt │ │ ├── README-SDL.txt │ │ ├── README.txt │ │ ├── WhatsNew.txt │ │ ├── docs │ │ │ ├── README-android.md │ │ │ ├── README-cmake.md │ │ │ ├── README-directfb.md │ │ │ ├── README-dynapi.md │ │ │ ├── README-emscripten.md │ │ │ ├── README-gesture.md │ │ │ ├── README-hg.md │ │ │ ├── README-ios.md │ │ │ ├── README-linux.md │ │ │ ├── README-macosx.md │ │ │ ├── README-nacl.md │ │ │ ├── README-pandora.md │ │ │ ├── README-platforms.md │ │ │ ├── README-porting.md │ │ │ ├── README-psp.md │ │ │ ├── README-raspberrypi.md │ │ │ ├── README-touch.md │ │ │ ├── README-wince.md │ │ │ ├── README-windows.md │ │ │ ├── README-winrt.md │ │ │ ├── README.md │ │ │ └── doxyfile │ │ ├── include │ │ │ ├── SDL.h │ │ │ ├── SDL_assert.h │ │ │ ├── SDL_atomic.h │ │ │ ├── SDL_audio.h │ │ │ ├── SDL_bits.h │ │ │ ├── SDL_blendmode.h │ │ │ ├── SDL_clipboard.h │ │ │ ├── SDL_config.h │ │ │ ├── SDL_cpuinfo.h │ │ │ ├── SDL_egl.h │ │ │ ├── SDL_endian.h │ │ │ ├── SDL_error.h │ │ │ ├── SDL_events.h │ │ │ ├── SDL_filesystem.h │ │ │ ├── SDL_gamecontroller.h │ │ │ ├── SDL_gesture.h │ │ │ ├── SDL_haptic.h │ │ │ ├── SDL_hints.h │ │ │ ├── SDL_joystick.h │ │ │ ├── SDL_keyboard.h │ │ │ ├── SDL_keycode.h │ │ │ ├── SDL_loadso.h │ │ │ ├── SDL_log.h │ │ │ ├── SDL_main.h │ │ │ ├── SDL_messagebox.h │ │ │ ├── SDL_mouse.h │ │ │ ├── SDL_mutex.h │ │ │ ├── SDL_name.h │ │ │ ├── SDL_opengl.h │ │ │ ├── SDL_opengl_glext.h │ │ │ ├── SDL_opengles.h │ │ │ ├── SDL_opengles2.h │ │ │ ├── SDL_opengles2_gl2.h │ │ │ ├── SDL_opengles2_gl2ext.h │ │ │ ├── SDL_opengles2_gl2platform.h │ │ │ ├── SDL_opengles2_khrplatform.h │ │ │ ├── SDL_pixels.h │ │ │ ├── SDL_platform.h │ │ │ ├── SDL_power.h │ │ │ ├── SDL_quit.h │ │ │ ├── SDL_rect.h │ │ │ ├── SDL_render.h │ │ │ ├── SDL_revision.h │ │ │ ├── SDL_rwops.h │ │ │ ├── SDL_scancode.h │ │ │ ├── SDL_shape.h │ │ │ ├── SDL_stdinc.h │ │ │ ├── SDL_surface.h │ │ │ ├── SDL_system.h │ │ │ ├── SDL_syswm.h │ │ │ ├── SDL_test.h │ │ │ ├── SDL_test_assert.h │ │ │ ├── SDL_test_common.h │ │ │ ├── SDL_test_compare.h │ │ │ ├── SDL_test_crc32.h │ │ │ ├── SDL_test_font.h │ │ │ ├── SDL_test_fuzzer.h │ │ │ ├── SDL_test_harness.h │ │ │ ├── SDL_test_images.h │ │ │ ├── SDL_test_log.h │ │ │ ├── SDL_test_md5.h │ │ │ ├── SDL_test_random.h │ │ │ ├── SDL_thread.h │ │ │ ├── SDL_timer.h │ │ │ ├── SDL_touch.h │ │ │ ├── SDL_types.h │ │ │ ├── SDL_version.h │ │ │ ├── SDL_video.h │ │ │ ├── begin_code.h │ │ │ └── close_code.h │ │ └── lib │ │ │ └── x64 │ │ │ ├── SDL2.dll │ │ │ ├── SDL2.lib │ │ │ ├── SDL2main.lib │ │ │ ├── SDL2test.lib │ │ │ ├── libSDL2-2.0.so.0 │ │ │ ├── libSDL2-2.0.so.0.4.0 │ │ │ ├── libSDL2.a │ │ │ ├── libSDL2.la │ │ │ ├── libSDL2_test.a │ │ │ └── libSDL2main.a │ ├── glad │ │ ├── include │ │ │ ├── KHR │ │ │ │ └── khrplatform.h │ │ │ └── glad │ │ │ │ ├── glad.h │ │ │ │ └── glad_egl.h │ │ └── src │ │ │ ├── glad.c │ │ │ └── glad_egl.c │ └── stb_image │ │ └── stb_image.h ├── include │ ├── NvFlex.h │ ├── NvFlexDevice.h │ └── NvFlexExt.h └── lib │ └── linux64 │ ├── NvFlexDebugCUDA_x64.a │ ├── NvFlexDeviceDebug_x64.a │ ├── NvFlexDeviceRelease_x64.a │ ├── NvFlexExtDebugCUDA_x64.a │ ├── NvFlexExtReleaseCUDA_x64.a │ └── NvFlexReleaseCUDA_x64.a ├── README.md ├── assets ├── .gitignore ├── fling-teaser.png ├── flingbot.gif ├── primitives.png ├── real_world_setup.jpg ├── sim-result.png └── teaser.png ├── calibrate_camera.py ├── cloth.blend ├── compile.sh ├── environment ├── Memory.py ├── __init__.py ├── exceptions.py ├── flex_utils.py ├── simEnv.py ├── tasks.py └── utils.py ├── flingbot.yml ├── learning ├── 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