danieltakeshi/gym-cloth

Code for IROS 2020 paper: https://arxiv.org/abs/1910.04854

gym-cloth's Issues

Data Generation for RGBD

How to Generate Data for RGBD Training, w/Domain Randomization

After 9ad4ba4 I ran:

python examples/analytic.py oracle --max_episodes=5 --seed=1337 --tier=2

to get episodes in

logs/demos-2020-02-09-15-59-pol-oracle-seed-1337-obs-blender-depth-False-rgbd-True-tier2_epis_5.pkl

The images in /tmp/blender will be 224x224. To see what the neural net would get, we can resize.

Then I ran:

python analysis/check_demo_data.py

to get these episodes, these are correctly 100x100 and have noise injected, etc:

First ep:

Second:

Third:

Fourth:

Fifth:

All right seems reasonable. Now let's scale this up. DON'T FORGET TO python setup.py install BEFOREHAND!!

python examples/analytic.py oracle --max_episodes=400 --seed=1336 --tier=1
python examples/analytic.py oracle --max_episodes=400 --seed=1337 --tier=1
python examples/analytic.py oracle --max_episodes=400 --seed=1338 --tier=1
python examples/analytic.py oracle --max_episodes=400 --seed=1339 --tier=1
python examples/analytic.py oracle --max_episodes=400 --seed=1340 --tier=1

python examples/analytic.py oracle --max_episodes=400 --seed=1336 --tier=2
python examples/analytic.py oracle --max_episodes=400 --seed=1337 --tier=2
python examples/analytic.py oracle --max_episodes=400 --seed=1338 --tier=2
python examples/analytic.py oracle --max_episodes=400 --seed=1339 --tier=2
python examples/analytic.py oracle --max_episodes=400 --seed=1340 --tier=2

python examples/analytic.py oracle --max_episodes=400 --seed=1336 --tier=3
python examples/analytic.py oracle --max_episodes=400 --seed=1337 --tier=3
python examples/analytic.py oracle --max_episodes=400 --seed=1338 --tier=3
python examples/analytic.py oracle --max_episodes=400 --seed=1339 --tier=3
python examples/analytic.py oracle --max_episodes=400 --seed=1340 --tier=3

• Ran Tier1 on hermes1, Feb 09. [Note: copied over to takeshi, should start training Feb 11]
• Ran Tier2 + Tier3 on triton4, Feb 10.

[I copied the data all to be on Triton4 and Mason ... and should do another machine soon just in case.]

Update: all the datasets are available on Triton4:

(py3-iros-2020) seita@triton4:~/gym-cloth (master) $ python analysis/combine_demo_data.py
  just loaded demos-2020-02-09-16-31-pol-oracle-seed-1336-obs-blender-depth-False-rgbd-True-tier1_epis_400.pkl, len 400
  just loaded demos-2020-02-09-16-31-pol-oracle-seed-1337-obs-blender-depth-False-rgbd-True-tier1_epis_400.pkl, len 400
  just loaded demos-2020-02-09-16-31-pol-oracle-seed-1338-obs-blender-depth-False-rgbd-True-tier1_epis_400.pkl, len 400
  just loaded demos-2020-02-09-16-31-pol-oracle-seed-1339-obs-blender-depth-False-rgbd-True-tier1_epis_400.pkl, len 400
  just loaded demos-2020-02-09-16-31-pol-oracle-seed-1340-obs-blender-depth-False-rgbd-True-tier1_epis_400.pkl, len 400
saving at logs/demos-2020-02-09-16-31-pol-oracle-seed-1336_to_1340-obs-blender-depth-False-rgbd-True-tier1_epis_2000_COMBO.pkl, len 2000
(py3-iros-2020) seita@triton4:~/gym-cloth (master) $ python analysis/combine_demo_data.py
  just loaded demos-2020-02-10-15-00-pol-oracle-seed-1336-obs-blender-depth-False-rgbd-True-tier2_epis_400.pkl, len 400
  just loaded demos-2020-02-10-15-01-pol-oracle-seed-1337-obs-blender-depth-False-rgbd-True-tier2_epis_400.pkl, len 400
  just loaded demos-2020-02-10-15-01-pol-oracle-seed-1338-obs-blender-depth-False-rgbd-True-tier2_epis_400.pkl, len 400
  just loaded demos-2020-02-10-15-02-pol-oracle-seed-1339-obs-blender-depth-False-rgbd-True-tier2_epis_400.pkl, len 400
  just loaded demos-2020-02-10-15-02-pol-oracle-seed-1340-obs-blender-depth-False-rgbd-True-tier2_epis_400.pkl, len 400
saving at logs/demos-2020-02-10-15-02-pol-oracle-seed-1336_to_1340-obs-blender-depth-False-rgbd-True-tier2_epis_2000_COMBO.pkl, len 2000
(py3-iros-2020) seita@triton4:~/gym-cloth (master) $ python analysis/combine_demo_data.py
  just loaded demos-2020-02-10-15-04-pol-oracle-seed-1336-obs-blender-depth-False-rgbd-True-tier3_epis_400.pkl, len 400
  just loaded demos-2020-02-10-15-04-pol-oracle-seed-1337-obs-blender-depth-False-rgbd-True-tier3_epis_400.pkl, len 400
  just loaded demos-2020-02-10-15-04-pol-oracle-seed-1338-obs-blender-depth-False-rgbd-True-tier3_epis_400.pkl, len 400
  just loaded demos-2020-02-10-15-04-pol-oracle-seed-1339-obs-blender-depth-False-rgbd-True-tier3_epis_400.pkl, len 400
  just loaded demos-2020-02-10-15-05-pol-oracle-seed-1340-obs-blender-depth-False-rgbd-True-tier3_epis_400.pkl, len 400
saving at logs/demos-2020-02-10-15-05-pol-oracle-seed-1336_to_1340-obs-blender-depth-False-rgbd-True-tier3_epis_2000_COMBO.pkl, len 2000
(py3-iros-2020) seita@triton4:~/gym-cloth (master) $

Data Statistics

Currently these are 1.1G, 1.9G, and 2.2G, respectively, for the three tiers:

demos-2020-02-09-16-31-pol-oracle-seed-1336_to_1340-obs-blender-depth-False-rgbd-True-tier1_epis_2000_COMBO.pkl
demos-2020-02-10-15-02-pol-oracle-seed-1336_to_1340-obs-blender-depth-False-rgbd-True-tier2_epis_2000_COMBO.pkl
demos-2020-02-10-15-05-pol-oracle-seed-1336_to_1340-obs-blender-depth-False-rgbd-True-tier3_epis_2000_COMBO.pkl

And then running the analysis script analysis/check_demo_data.py I am getting this for T1:

loaded data, length (i.e., episodes) 2000
episode lengths (wrt t): max / min / mean: 6.0 / 1.0 / 1.80 +/- 0.8
num_oob: 0
num_tear: 0
num coverage below 0.9: 0
total transitions: 3599
coverage at start: 78.0 +/- 7.1
coverage at end:   95.6 +/- 2.1
inv-var at start:  0.962 +/- 0.5
inv-var at end:    11.582 +/- 41.6
actions, len 14396, max 1.423, min -1.316, mean -0.008

average values across three channels
  chan. 1: 157.9 +/- 69.0
  chan. 2: 107.7 +/- 32.0
  chan. 3: 78.7 +/- 14.2

and this for T2:

loaded data, length (i.e., episodes) 2000
episode lengths (wrt t): max / min / mean: 10.0 / 1.0 / 3.94 +/- 2.0
num_oob: 6
num_tear: 0
num coverage below 0.9: 51
total transitions: 7878
coverage at start: 57.5 +/- 6.1
coverage at end:   94.5 +/- 5.1
inv-var at start:  0.745 +/- 0.1
inv-var at end:    10.177 +/- 14.0
actions, len 31512, max 1.312, min -1.333, mean 0.001

average values across three channels
  chan. 1: 155.5 +/- 66.6
  chan. 2: 110.5 +/- 34.6
  chan. 3: 85.0 +/- 19.6

and this for T3:

loaded data, length (i.e., episodes) 2000
episode lengths (wrt t): max / min / mean: 10.0 / 1.0 / 4.64 +/- 1.1
num_oob: 3
num_tear: 0
num coverage below 0.9: 7
total transitions: 9276
coverage at start: 41.2 +/- 3.4
coverage at end:   95.0 +/- 2.7
inv-var at start:  0.231 +/- 0.1
inv-var at end:    9.329 +/- 15.4
actions, len 37104, max 1.247, min -1.263, mean -0.001

average values across three channels
  chan. 1: 151.9 +/- 65.5
  chan. 2: 113.1 +/- 37.0
  chan. 3: 90.5 +/- 24.5

Makes sense! Similar to results that I was getting before.

Now the next step is to start training ...

Fix render Ubuntu 20

Hi,

I tried to render in Ubuntu 20 but the render window does not update.
I created a fix in my fork commit by modifying render/src/main.cpp commit e810634ae4662f59973d04cbecd62eabe1aa9ae8.

Diagonal folding graspped points mismatch actions

Hi, first thanks for this great repo!

I have created a new environment following the given ClothEnv to perform diagonal folding.
The changes can be found in my fork gym-cloth in the file DiagonalClothEnv.

I modified the original code and works as:

1. Get an action
2. Keep grasping the top corner until done, perform self.gripper.adjust(x=delta_x, y=delta_y, z=delta_z) instead of self._pull()
3. After adjusting the corner position, update the cloth for i in range(cloth_updates): self.cloth.update()

However, the grasped points pt.pinned = True don't behave as expected.
In the first iteration t=0, I take an action in the z coordinate and pull the cloth by 0.007. This works as expected and the grasped points are then at z=0.007.
At t=1, I apply the same action on the z coordinate, self.gripper.adjust(x=0., y=0., z=0.007). This should move the grasped points to z=0.014.
However, after performing the first self.cloth.update() the grasped points are at z=0.021.

Why do the graspped points pt.pinned=True move to a different position after the update?

Blender does not exist crashes the simulation

I run the example line and the simulation window pops up as expected. However after a few seconds.

Traceback (most recent call last):
  File "examples/analytic.py", line 788, in <module>
    run(args, policy)
  File "examples/analytic.py", line 708, in run
    obs = env.reset()
  File "/home/dhananjay/miniconda3/envs/py3-cloth/lib/python3.6/site-packages/gym_cloth-0.0.1-py3.6-linux-x86_64.egg/gym_cloth/envs/cloth_env.py", line 795, in reset
    obs = self.state
  File "/home/dhananjay/miniconda3/envs/py3-cloth/lib/python3.6/site-packages/gym_cloth-0.0.1-py3.6-linux-x86_64.egg/gym_cloth/envs/cloth_env.py", line 204, in state
    img_rgb = self.get_blender_rep('False')
  File "/home/dhananjay/miniconda3/envs/py3-cloth/lib/python3.6/site-packages/gym_cloth-0.0.1-py3.6-linux-x86_64.egg/gym_cloth/envs/cloth_env.py", line 281, in get_blender_rep
    str(self.dom_rand_params['specular_max'])
  File "/home/dhananjay/miniconda3/envs/py3-cloth/lib/python3.6/subprocess.py", line 287, in call
    with Popen(*popenargs, **kwargs) as p:
  File "/home/dhananjay/miniconda3/envs/py3-cloth/lib/python3.6/subprocess.py", line 729, in __init__
    restore_signals, start_new_session)
  File "/home/dhananjay/miniconda3/envs/py3-cloth/lib/python3.6/subprocess.py", line 1364, in _execute_child
    raise child_exception_type(errno_num, err_msg, err_filename)
FileNotFoundError: [Errno 2] No such file or directory: 'blender': 'blender'

No build directory

I follow the installations instructions on an Ubuntu 18.04 system until the example it works fine. but then I get.

(py3-cloth) dhananjay@dhananjay-G7-7700:~/Desktop/gym-cloth$ python examples/analytic.py oracle --max_episodes=400 --seed=1336 --tier=1
Yes, cython compiled.

Our result_path:
	/home/dhananjay/Desktop/gym-cloth/examples/../logs/demos-2021-06-25-11-59-pol-oracle-seed-1336-obs-blender-depth-False-rgbd-True-tier1_epis_400.pkl
06-25 11:59:36 cloth_env   : DEBUG    Just re-seeded env to: 8952872158261658479
06-25 11:59:36 cloth_env   : DEBUG    Just re-seeded env to: 1336
Traceback (most recent call last):
  File "examples/analytic.py", line 788, in <module>
    run(args, policy)
  File "examples/analytic.py", line 697, in run
    env.render(filepath=args.render_path)
  File "/home/dhananjay/miniconda3/envs/py3-cloth/lib/python3.6/site-packages/gym_cloth-0.0.1-py3.6-linux-x86_64.egg/gym_cloth/envs/cloth_env.py", line 1066, in render
    os.chdir(filepath)
FileNotFoundError: [Errno 2] No such file or directory: '/home/dhananjay/Desktop/gym-cloth/examples/../render/build'