ECBallOnPlate.cpp

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#include "ExperimentConfig.h"
#include "action/AMJointControlPosition.h"
#include "action/AMIntegrate1stOrder.h"
#include "action/AMIntegrate2ndOrder.h"
#include "action/AMPlateAngPos.h"
#include "action/AMPlatePos5D.h"
#include "initState/ISSBallOnPlate.h"
#include "observation/OMBodyStateLinear.h"
#include "observation/OMBodyStateAngular.h"
#include "observation/OMBallPos.h"
#include "observation/OMCombined.h"
#include "observation/OMPartial.h"
#include "physics/PhysicsParameterManager.h"
#include "physics/PPDMassProperties.h"
#include "physics/PPDSphereRadius.h"
#include "physics/PPDMaterialProperties.h"
#include "physics/ForceDisturber.h"
#include "util/string_format.h"

#include <Rcs_macros.h>
#include <Rcs_typedef.h>
#include <Rcs_Mat3d.h>
#include <Rcs_Vec3d.h>

#ifdef GRAPHICS_AVAILABLE

#include <RcsViewer.h>

#endif

#include <sstream>
#include <stdexcept>
#include <cmath>

namespace Rcs
{

class ECBallOnPlate : public ExperimentConfig
{
    double initManipulability;
    
    virtual ActionModel* createActionModel()
    {
        std::string actionModelType = "unspecified";
        properties->getProperty(actionModelType, "actionModelType");
        
        if (actionModelType == "joint_pos") {
            return new AMJointControlPosition(graph);
        }
        
        else if (actionModelType == "joint_acc") {
            double maxAction = RCS_DEG2RAD(120); // [1/s^2]
            properties->getProperty(maxAction, "maxAction");
            return new AMIntegrate2ndOrder(new AMJointControlPosition(graph), maxAction);
        }
        
        else if (actionModelType == "plate_angpos") {
            return new AMPlateAngPos(graph);
        }
        
        else if (actionModelType == "plate_angvel") {
            double maxAction = RCS_DEG2RAD(120); // [1/s]
            properties->getProperty(maxAction, "maxAction");
            return new AMIntegrate1stOrder(new AMPlateAngPos(graph), maxAction);
        }
        
        else if (actionModelType == "plate_angacc") {
            double maxAction = RCS_DEG2RAD(120); // [1/s^2]
            properties->getProperty(maxAction, "maxAction");
            return new AMIntegrate2ndOrder(new AMPlateAngPos(graph), maxAction);
        }
        
        else if (actionModelType == "plate_acc5d") {
            MatNd* maxAction;
            MatNd_fromStack(maxAction, 5, 1);
            // Use different max action for linear/angular
            double max_lin = 0.5; // [m/s^2]
            double max_ang = RCS_DEG2RAD(120); // [1/s^2]
            
            maxAction->ele[0] = max_lin;
            maxAction->ele[1] = max_lin;
            maxAction->ele[2] = max_lin;
            maxAction->ele[3] = max_ang;
            maxAction->ele[4] = max_ang;
            
            return new AMIntegrate2ndOrder(new AMPlatePos5D(graph), maxAction);
        }
        
        else {
            std::ostringstream os;
            os << "Unsupported action model type: " << actionModelType;
            throw std::invalid_argument(os.str());
        }
    }
    
    virtual ObservationModel* createObservationModel()
    {
        RcsBody* plate = RcsGraph_getBodyByName(graph, "Plate");
        RcsBody* plateOrigMarker = RcsGraph_getBodyByName(graph, "PlateOriginMarker");
        RCHECK_MSG(plateOrigMarker, "PlateOriginMarker is missing, please update your xml.");
        // Set origin marker position
        HTr_copyOrRecreate(&plateOrigMarker->A_BP, plate->A_BI);
        // Select observation model
        
        bool ballObsAngular = properties->getPropertyBool("ballObsAngular");
//        bool ballObsInInertialFrame = properties->getPropertyBool(
//                "ballObsInInertialFrame");
        
        std::string actionModelType = "joint_pos";
        properties->getProperty(actionModelType, "actionModelType");
        bool havePlateLinPos = actionModelType == "plate_acc5d";
        
        auto fullState = new OMCombined();
        
        // Add plate linear position if desired
        if (havePlateLinPos) {
            auto plin = new OMBodyStateLinear(graph, "Plate", "PlateOriginMarker");
            plin->setMinState(-0.1);
            plin->setMaxState(0.1);
            plin->setMaxVelocity(2.0);
            fullState->addPart(plin);
        }
        
        // Plate angular position
        auto pang = new OMBodyStateAngular(graph, "Plate", "PlateOriginMarker");
        pang->setMinState(-45*M_PI/180);
        pang->setMaxState(45*M_PI/180);
        pang->setMaxVelocity(2*360*M_PI/180);
        // Mask out Z since it's fixed
        fullState->addPart(OMPartial::fromMask(pang, {true, true, false}));
        
        // Ball linear state
        fullState->addPart(new OMBallPos(graph));
        
        if (ballObsAngular) {
            // Add angular ball state
            fullState->addPart(new OMBodyStateAngular(graph, "Ball", "Plate"));
        }
        return fullState;
    }
    
    virtual void populatePhysicsParameters(PhysicsParameterManager* manager)
    {
        manager->addParam("Ball", new PPDSphereRadius("Plate"));
        manager->addParam("Ball", new PPDMassProperties());
        manager->addParam("Ball", new PPDMaterialProperties());
        manager->addParam("Plate", new PPDMaterialProperties());
    }
    
    virtual InitStateSetter* createInitStateSetter()
    {
        return new ISSBallOnPlate(graph);
    }
    
    virtual ForceDisturber* createForceDisturber()
    {
        RcsBody* ball = RcsGraph_getBodyByName(graph, "Ball");
        RcsBody* plate = RcsGraph_getBodyByName(graph, "Plate");
        return new ForceDisturber(ball, plate);
    }
    
    virtual void initViewer(Rcs::Viewer* viewer)
    {
        initManipulability = 0;
        // Compute initial manipulability
        auto amIK = actionModel->unwrap<ActionModelIK>();
        if (amIK != NULL) {
            initManipulability = amIK->getController()->computeManipulabilityCost();
        }

#ifdef GRAPHICS_AVAILABLE
        // Set camera above plate
        RcsBody* plate = RcsGraph_getBodyByName(graph, "Plate");
        RCHECK(plate);
        std::string cameraView = "side";
        properties->getProperty(cameraView, "cameraView");
        
        // The camera center is the plate center
        double cameraCenter[3];
        Vec3d_copy(cameraCenter, plate->A_BI->org);
        
        // The camera location - not specified yet
        double cameraLocation[3];
        Vec3d_setZero(cameraLocation);
        
        // Camera up vector defaults to z
        double cameraUp[3];
        Vec3d_setUnitVector(cameraUp, 2);
        
        if (cameraView == "topdown") {
            // The camera looks down vertically
            Vec3d_copy(cameraLocation, cameraCenter);
            // The distance between camera and plate is configurable
            double cameraToPlateDistanceZ = 1.6;
            properties->getProperty(cameraToPlateDistanceZ, "cameraToPlateDistance");
            cameraLocation[2] += cameraToPlateDistanceZ;
            // The plate's y vector should point up on the view
            Vec3d_setUnitVector(cameraUp, 1);
            Vec3d_transRotateSelf(cameraUp, plate->A_BI->rot);
            
        }
        else if (cameraView == "side") {
            // Make camera center a bit lower, so we use the screen better
            cameraCenter[2] -= 0.4;
            // Shift camera pos in x dir
            cameraLocation[0] = 2.9;
            cameraLocation[2] = 1.3;
            
            // Rotate to world frame
            Vec3d_transformSelf(cameraLocation, plate->A_BI);
            
        }
        else {
            RMSG("Unsupported camera view: %s", cameraView.c_str());
            return;
        }
        
        // Apply the camera position
        viewer->setCameraHomePosition(osg::Vec3d(cameraLocation[0], cameraLocation[1], cameraLocation[2]),
                                      osg::Vec3d(cameraCenter[0], cameraCenter[1], cameraCenter[2]),
                                      osg::Vec3d(cameraUp[0], cameraUp[1], cameraUp[2]));
#endif
    }
    
    void getHUDText(
        std::vector<std::string>& linesOut, double currentTime, const MatNd* obs, const MatNd* currentAction,
        PhysicsBase* simulator, PhysicsParameterManager* physicsManager, ForceDisturber* forceDisturber) override
    {
        // Obtain simulator name
        const char* simName = "None";
        if (simulator != NULL) {
            simName = simulator->getClassName();
        }
        
        linesOut.emplace_back(string_format(
            "physics engine: %s        simulation time:             %2.3f s",
            simName, currentTime));
        
        unsigned int numPosCtrlJoints = 0;
        unsigned int numTrqCtrlJoints = 0;
        // Iterate over unconstrained joints
        RCSGRAPH_TRAVERSE_JOINTS(graph) {
                if (JNT->jacobiIndex != -1) {
                    if (JNT->ctrlType == RCSJOINT_CTRL_TYPE::RCSJOINT_CTRL_POSITION) {
                        numPosCtrlJoints++;
                    }
                    else if (JNT->ctrlType == RCSJOINT_CTRL_TYPE::RCSJOINT_CTRL_TORQUE) {
                        numTrqCtrlJoints++;
                    }
                }
            }
        linesOut.emplace_back(
            string_format("num joints:    %d total, %d pos ctrl, %d trq ctrl", graph->nJ, numPosCtrlJoints,
                          numTrqCtrlJoints));
        
        linesOut.emplace_back(string_format(
            "plate angles:     [% 3.2f,% 3.2f] deg",
            RCS_RAD2DEG(obs->ele[0]), RCS_RAD2DEG(obs->ele[1])));
        
        const double* distForce = forceDisturber->getLastForce();
        linesOut.emplace_back(string_format(
            "disturbances:   [% 3.1f,% 3.1f,% 3.1f] N",
            distForce[0], distForce[1], distForce[2]));
        
        if (physicsManager != NULL) {
            // Get the parameters that are not stored in the Rcs graph
            BodyParamInfo* ball_bpi = physicsManager->getBodyInfo("Ball");
            double* com = ball_bpi->body->Inertia->org;
            double ball_radius = ball_bpi->body->shape[0]->extents[0];
            double slip = 0;
            ball_bpi->material.getDouble("slip", slip);
            
            linesOut.emplace_back(string_format(
                "ball mass:      %2.2f kg           ball radius:             %2.3f cm",
                ball_bpi->body->m, ball_radius*100));
            
            linesOut.emplace_back(string_format(
                "ball friction:  %1.2f    ball rolling friction:             %1.3f",
                ball_bpi->material.getFrictionCoefficient(),
                ball_bpi->material.getRollingFrictionCoefficient()/ball_radius));
            
            linesOut.emplace_back(string_format(
                "ball slip:      %3.1f rad/(Ns)       CoM offset:[% 2.1f, % 2.1f, % 2.1f] mm",
                slip, com[0]*1000, com[1]*1000, com[2]*1000));
        }
        
        // Compute manipulability cost if available
        auto amIK = actionModel->unwrap<ActionModelIK>();
        if (amIK != NULL) {
            double manipulability = amIK->getController()->computeManipulabilityCost()/initManipulability;
            linesOut.emplace_back(string_format(
                "manipulability: %10.8f ",
                manipulability));
        }
    }
};

// Register
static ExperimentConfigRegistration<ECBallOnPlate> RegBallOnPlate("BallOnPlate");

}