DiffCloth
Code repository for our paper DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact
1. Download the repo:
Make sure to use the --recursive
option to install the dependencies
git clone --recursive https://github.com/omegaiota/DiffCloth.git
2. Build CPP code:
From the top directory:
mkdir build
cd build
cmake ..
make
3. Optimize/Visualize Section 6 Experiments:
-
Run optimization:
./DiffCloth -demo {demooptions} -mode optimize -seed {randseed}
where
{demooptions}
is the name of the demos from the following options and{randseed}
is an integer for random initialization of the initial guesses of the tasks.The corresponding option for each of the experiments is:
- 6.1 T-shirt:
tshirt
- 6.1 Sphere:
sphere
- 6.2 Hat:
hat
- 6.2 Sock:
sock
- 6.3 Dress:
dress
- 6.1 T-shirt:
-
Visualize optimization iters:
./DiffCloth -demo {demooptions} -mode visualize -exp {expName}
where
{expName}
is the iteration folder for visualization. The code repo comes with an example optimization run of T-shirt inoutput/tshirt-exampleopt/
, and you can visualize the first iteration with./DiffCloth -demo tshirt -mode visualize -exp tshirt-exampleopt/iter0/
The progress of the optimization is saved into the output/
directory of the root folder. Intermediate progress are visualized using the custom written OpenGL viewer.
4. Build Python Binding and Run Hat Controller example:
Build Python Binding:
- Install anaconda for virtual environment.
- In project root folder, run
python setup.py install
to install the python binding package. Rerun this command if you modify the CPP code. - Create conda virtual environment:
conda env create python=3.8 --file environment.yml
, and activate it throughconda activate diffcloth
Train/Test Hat Controller example:
- Navigate to
src/python_code
- Test pretrained network: run
python hatController.py --eval --render --load_expname 20210809-trainedBest
- Train network: run
python hatController.py --render
- Resume train: run
python hatController.py --train_resume --load_expname [expName] --load_epoch [epochNum]
Simulations are saved to output/
directory of the root folder.
Note
Feel free to contact me or creating a Github issue if you have questions regarding setting up the repository, running examples or setting up new examples.
Citation
Please consider citing our paper if your find our research helpful:
@article{Li2022diffcloth,
author = {Li, Yifei and Du, Tao and Wu, Kui and Xu, Jie and Matusik, Wojciech},
title = {DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact},
year = {2022},
issue_date = {February 2023},
publisher = {Association for Computing Machinery},
address = {New York, NY, USA},
volume = {42},
number = {1},
issn = {0730-0301},
url = {https://doi.org/10.1145/3527660},
doi = {10.1145/3527660},
abstract = {Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a differentiable cloth simulator whose additional gradient information facilitates cloth-related applications. Our differentiable simulator extends a state-of-the-art cloth simulator based on Projective Dynamics (PD) and with dry frictional contact [Ly et al. 2020]. We draw inspiration from previous work [Du et al. 2021] to propose a fast and novel method for deriving gradients in PD-based cloth simulation with dry frictional contact. Furthermore, we conduct a comprehensive analysis and evaluation of the usefulness of gradients in contact-rich cloth simulation. Finally, we demonstrate the efficacy of our simulator in a number of downstream applications, including system identification, trajectory optimization for assisted dressing, closed-loop control, inverse design, and real-to-sim transfer. We observe a substantial speedup obtained from using our gradient information in solving most of these applications.},
journal = {ACM Trans. Graph.},
month = {oct},
articleno = {2},
numpages = {20},
keywords = {differentiable simulation, cloth simulation, Projective Dynamics}
}