LfD: Learning from Demonstrations for Robotic Manipulation
License: Other
The LfD package generalizes robot trajectories from demonstrations into new situations, thus enabling robots to learn to perform tasks from demonstrations.
Package documentation is available at http://rll.berkeley.edu/lfd.
Example knot tying h5 file in README.md is 404 on Dropbox
https://www.dropbox.com/s/wnt3j42jp5solr8/actions.h5
When I run the test suite I get a segfault:
~/git/robbie/lfd$ python -m unittest discover -s test
You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO
ESegmentation fault (core dumped)
Also all of the exaples except drop_objs.py fail.
move_box:
robbie@bluefin:~/git/robbie/lfd/examples$ python move_box.py
You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO
[plugindatabase.h:577] Failed to create name base_stereo_camera, interface sensor
[colladareader.cpp:2703] cannot find instance_sensor for attached sensor pr2:wide_stereo_optical_sensor
[plugindatabase.h:577] Failed to create name base_stereo_camera, interface sensor
[colladareader.cpp:2703] cannot find instance_sensor for attached sensor pr2:narrow_stereo_optical_sensor
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[colladareader.cpp:2844] unprocessed tag: sensor/angle_range
[colladareader.cpp:2844] unprocessed tag: sensor/distance_range
[colladareader.cpp:2844] unprocessed tag: sensor/angle_increment
[colladareader.cpp:2844] unprocessed tag: sensor/measurement_time
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[colladareader.cpp:2844] unprocessed tag: sensor/angle_range
[colladareader.cpp:2844] unprocessed tag: sensor/distance_range
[colladareader.cpp:2844] unprocessed tag: sensor/angle_increment
[colladareader.cpp:2844] unprocessed tag: sensor/measurement_time
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[INFO] creating bullet collision checker for environment
[INFO] creating viewer
[INFO] ====== Welcome to the OSG Viewer =======
Mouse:
- rotate by holding left mouse button and dragging
- zoom by holding right mouse button and dragging
key bindings:
Esc quit application
Space reset view
h: Display help
p: Toggle idle
�: Quit (raise exception)
Traceback (most recent call last):
File "move_box.py", line 67, in <module>
traj = get_move_traj(box0_pos + np.r_[0,0,move_height], box0_pos + np.r_[0,0,box_depth/2-0.02], False)
File "move_box.py", line 58, in get_move_traj
dof_vals = sim.robot.GetManipulator(manip_name).GetArmDOFValues()
AttributeError: 'Manipulator' object has no attribute 'GetArmDOFValues'
move_rope
robbie@bluefin:~/git/robbie/lfd/examples$ python move_rope.py
You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO
[plugindatabase.h:577] Failed to create name base_stereo_camera, interface sensor
[colladareader.cpp:2703] cannot find instance_sensor for attached sensor pr2:wide_stereo_optical_sensor
[plugindatabase.h:577] Failed to create name base_stereo_camera, interface sensor
[colladareader.cpp:2703] cannot find instance_sensor for attached sensor pr2:narrow_stereo_optical_sensor
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[colladareader.cpp:2844] unprocessed tag: sensor/angle_range
[colladareader.cpp:2844] unprocessed tag: sensor/distance_range
[colladareader.cpp:2844] unprocessed tag: sensor/angle_increment
[colladareader.cpp:2844] unprocessed tag: sensor/measurement_time
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[colladareader.cpp:2844] unprocessed tag: sensor/angle_range
[colladareader.cpp:2844] unprocessed tag: sensor/distance_range
[colladareader.cpp:2844] unprocessed tag: sensor/angle_increment
[colladareader.cpp:2844] unprocessed tag: sensor/measurement_time
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[INFO] creating bullet collision checker for environment
[INFO] creating viewer
[INFO] ====== Welcome to the OSG Viewer =======
Mouse:
- rotate by holding left mouse button and dragging
- zoom by holding right mouse button and dragging
key bindings:
Esc quit application
Space reset view
h: Display help
p: Toggle idle
�: Quit (raise exception)
Traceback (most recent call last):
File "move_rope.py", line 86, in <module>
traj = get_move_traj(pick_pos + np.r_[0,0,move_height], pick_pos, pick_R, pick_R, False)
File "move_rope.py", line 73, in get_move_traj
dof_vals = sim.robot.GetManipulator(manip_name).GetArmDOFValues()
AttributeError: 'Manipulator' object has no attribute 'GetArmDOFValues'
record_sim
robbie@bluefin:~/git/robbie/lfd/examples$ python move_rope.py
You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO
[plugindatabase.h:577] Failed to create name base_stereo_camera, interface sensor
[colladareader.cpp:2703] cannot find instance_sensor for attached sensor pr2:wide_stereo_optical_sensor
[plugindatabase.h:577] Failed to create name base_stereo_camera, interface sensor
[colladareader.cpp:2703] cannot find instance_sensor for attached sensor pr2:narrow_stereo_optical_sensor
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[colladareader.cpp:2844] unprocessed tag: sensor/angle_range
[colladareader.cpp:2844] unprocessed tag: sensor/distance_range
[colladareader.cpp:2844] unprocessed tag: sensor/angle_increment
[colladareader.cpp:2844] unprocessed tag: sensor/measurement_time
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[colladareader.cpp:2844] unprocessed tag: sensor/angle_range
[colladareader.cpp:2844] unprocessed tag: sensor/distance_range
[colladareader.cpp:2844] unprocessed tag: sensor/angle_increment
[colladareader.cpp:2844] unprocessed tag: sensor/measurement_time
[colladareader.cpp:2844] unprocessed tag: sensor/interface_type
[INFO] creating bullet collision checker for environment
[INFO] creating viewer
[INFO] ====== Welcome to the OSG Viewer =======
Mouse:
- rotate by holding left mouse button and dragging
- zoom by holding right mouse button and dragging
key bindings:
Esc quit application
Space reset view
h: Display help
p: Toggle idle
�: Quit (raise exception)
Traceback (most recent call last):
File "move_rope.py", line 86, in <module>
traj = get_move_traj(pick_pos + np.r_[0,0,move_height], pick_pos, pick_R, pick_R, False)
File "move_rope.py", line 73, in get_move_traj
dof_vals = sim.robot.GetManipulator(manip_name).GetArmDOFValues()
AttributeError: 'Manipulator' object has no attribute 'GetArmDOFValues'
robbie@bluefin:~/git/robbie/lfd/examples$ python
drop_objs.py move_box.py move_rope.py record_sim.py register.py
robbie@bluefin:~/git/robbie/lfd/examples$ python record_sim.py
You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO
Traceback (most recent call last):
File "record_sim.py", line 17, in <module>
from lfd.environment.environment import RecordingSimulationEnvironment
ImportError: cannot import name RecordingSimulationEnvironment
register
robbie@bluefin:~/git/robbie/lfd/examples$ python register.py
You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO
Traceback (most recent call last):
File "register.py", line 21, in <module>
sim.add_objects([table])
File "/home/robbie/git/robbie/lfd/lfd/environment/simulation.py", line 34, in add_objects
self.robot = self.env.GetRobots()[-1]
IndexError: list index out of range
Currently, the demos provided at instantiation of TpsRpmRegistrationFactory, TpsRpmBijRegistrationFactory are merely used to iterate over for batch_register and batch_cost. However, the intended behavior is for the RegistrationFactory to only allow to do register and cost with one of the demos provided at instantiation.
Once this behavior is implemented, the RegistrationFactory should do all necessary pre-computation at instantiation for efficiency reasons (i.e. the SolverFactory should create a Solver at this point instead of every time tps_rpm or tps_rpm_bij is called).
bulletsimpy should only be used by DynamicSimulation (and derived classes) and RopeSimulationObject
Commit 58d42aa started assuming in function add_objects that at least one of the objects being added is a robot:
https://github.com/dhadfieldmenell/lfd/blob/58d42aa36dfdf1385171685a16c52e965d188a9d/core/simulation.py#L35
Previous behavior was to set the self.robot variable only if a robot was just added:
https://github.com/dhadfieldmenell/lfd/blob/1fe2475d76c90be45202316f79bf79fa92c3bb2e/core/simulation.py#L34-L37
Can you revert the behavior?
Hey @gmulcaire, can you move record_sim.py out of the examples directory? The examples directory is now meant for simple examples that just works with default command line arguments (if any). You can do either of the following:
In addition, can you make sure these classes work?
RecordingLfdEnvironment, RecordingRopePositionsSceneState, TimestepState
Again, if they are mature and if it would be beneficial for other projects, their current modules are OK. But if this is still experimental, put it in another subpackage or in another branch.
cloudprocpy should only be required if downsampling is being used.
When compiling OpenRave from source (this is necessary for Ubuntu 14.04), the OpenRave branch to pull from is latest-stable. This is openrave version 0.9. GetArmDOFValues is not included in this branch as it was added afterwards.
This causes examples/move_box.py and examples/move_rope.py to fail.
When test/test_registration.py is run, the tests seem to pass, but there is an Arithmetic exception at the end of the test. I am using OpenRave installed from source branch latest-stable.
gdb output and backtrace
(gdb) run test/test_registration.py
Starting program: /usr/bin/python test/test_registration.py
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO
.computing costs: no solver... done in 34.4093010426s
computing costs: solver... done in 16.0090970993s
computing costs: cached solver... done in 15.1748859882s
couldn't run GPU tests since the GPU is not configured properly
.
----------------------------------------------------------------------
Ran 2 tests in 82.713s
OK
Program received signal SIGFPE, Arithmetic exception.
0x00007ffff1330393 in crlibm_exit () from /usr/local/lib/libopenrave0.9.so.0
(gdb) backtrace
#0 0x00007ffff1330393 in crlibm_exit () from /usr/local/lib/libopenrave0.9.so.0
#1 0x00007ffff124f444 in OpenRAVE::RaveGlobal::Destroy() ()
from /usr/local/lib/libopenrave0.9.so.0
#2 0x00007ffff124eadd in OpenRAVE::RaveGlobal::~RaveGlobal() ()
from /usr/local/lib/libopenrave0.9.so.0
#3 0x00007ffff124ed86 in OpenRAVE::RaveGlobal::~RaveGlobal() ()
from /usr/local/lib/libopenrave0.9.so.0
#4 0x00007ffff126def0 in void boost::checked_delete<OpenRAVE::RaveGlobal>(OpenRAVE::RaveGlobal*)
() from /usr/local/lib/libopenrave0.9.so.0
#5 0x00007ffff1270c78 in boost::detail::sp_counted_impl_p<OpenRAVE::RaveGlobal>::dispose() ()
from /usr/local/lib/libopenrave0.9.so.0
#6 0x00007ffff1104bc0 in boost::detail::sp_counted_base::release() ()
from /usr/local/lib/libopenrave0.9.so.0
#7 0x00007ffff1104c83 in boost::detail::shared_count::~shared_count() ()
from /usr/local/lib/libopenrave0.9.so.0
#8 0x00007ffff124fb86 in boost::shared_ptr<OpenRAVE::RaveGlobal>::~shared_ptr() ()
from /usr/local/lib/libopenrave0.9.so.0
#9 0x00007ffff7832149 in __run_exit_handlers (status=0, listp=0x7ffff7bb56c8 <__exit_funcs>,
run_list_atexit=run_list_atexit@entry=true) at exit.c:82
#10 0x00007ffff7832195 in __GI_exit (status=<optimized out>) at exit.c:104
#11 0x000000000042fb83 in Py_Exit ()
#12 0x000000000042fcb9 in ?? ()
---Type <return> to continue, or q <return> to quit---
#13 0x000000000042ec32 in PyErr_PrintEx ()
#14 0x0000000000469f2f in PyRun_SimpleFileExFlags ()
#15 0x000000000046ab81 in Py_Main ()
#16 0x00007ffff7817ec5 in __libc_start_main (main=0x46ac3f <main>, argc=2, argv=0x7fffffffdc58,
init=<optimized out>, fini=<optimized out>, rtld_fini=<optimized out>,
stack_end=0x7fffffffdc48) at libc-start.c:287
#17 0x000000000057497e in _start ()
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