ECBoxLifting.cpp

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/*******************************************************************************
 Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
 Technical University of Darmstadt.
 All rights reserved.

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    notice, this list of conditions and the following disclaimer.
 2. Redistributions in binary form must reproduce the above copyright
    notice, this list of conditions and the following disclaimer in the
    documentation and/or other materials provided with the distribution.
 3. Neither the name of Fabio Muratore, Honda Research Institute Europe GmbH,
    or Technical University of Darmstadt, nor the names of its contributors may
    be used to endorse or promote products derived from this software without
    specific prior written permission.

 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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 OR TECHNICAL UNIVERSITY OF DARMSTADT BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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#include "ExperimentConfig.h"
#include "action/ActionModelIK.h"
#include "action/AMDynamicalSystemActivation.h"
#include "action/AMIKControllerActivation.h"
#include "initState/ISSBoxLifting.h"
#include "observation/OMCombined.h"
#include "observation/OMBodyStateLinear.h"
#include "observation/OMBodyStateAngular.h"
#include "observation/OMDynamicalSystemGoalDistance.h"
#include "observation/OMForceTorque.h"
#include "observation/OMPartial.h"
#include "observation/OMCollisionCost.h"
#include "observation/OMCollisionCostPrediction.h"
#include "observation/OMManipulabilityIndex.h"
#include "observation/OMDynamicalSystemDiscrepancy.h"
#include "observation/OMTaskSpaceDiscrepancy.h"
#include "physics/PhysicsParameterManager.h"
#include "physics/PPDBoxExtents.h"
#include "physics/PPDMassProperties.h"
#include "physics/PPDMaterialProperties.h"
#include "physics/ForceDisturber.h"
#include "util/string_format.h"

#include <Rcs_macros.h>
#include <Rcs_typedef.h>
#include <Rcs_Vec3d.h>
#include <TaskPosition3D.h>
#include <TaskVelocity1D.h>
#include <TaskDistance.h>
#include <TaskOmega1D.h>
#include <TaskEuler3D.h>
#include <TaskFactory.h>

#ifdef GRAPHICS_AVAILABLE

#include <RcsViewer.h>

#endif

#include <memory>
#include <iomanip>

namespace Rcs
{
class ECBoxLifting : public ExperimentConfig
{
    virtual ActionModel* createActionModel()
    {
        // Get the relevant bodies
        RcsBody* rightGrasp = RcsGraph_getBodyByName(graph, "PowerGrasp_R");
        RCHECK(rightGrasp);
        RcsBody* box = RcsGraph_getBodyByName(graph, "Box");
        RCHECK(box);
        RcsBody* basket = RcsGraph_getBodyByName(graph, "Basket");
        RCHECK(basket);
        
        // Get reference frames for the position and orientation tasks
        std::string refFrameType = "world";
        properties->getProperty(refFrameType, "refFrame");
        RcsBody* refBody = nullptr;
        RcsBody* refFrame = nullptr;
        if (refFrameType == "world") {
            // Keep nullptr
        }
        else if (refFrameType == "box") {
            refBody = box;
            refFrame = box;
        }
        else if (refFrameType == "basket") {
            refBody = basket;
            refFrame = basket;
        }
        else {
            std::ostringstream os;
            os << "Unsupported reference frame type: " << refFrame;
            throw std::invalid_argument(os.str());
        }
        
        // Get the type of action model
        std::string actionModelType = "unspecified";
        properties->getProperty(actionModelType, "actionModelType");
        
        // Get the method how to combine the movement primitives / tasks given their activation (common for both)
        std::string taskCombinationMethod = "unspecified";
        properties->getProperty(taskCombinationMethod, "taskCombinationMethod");
        TaskCombinationMethod tcm = AMDynamicalSystemActivation::checkTaskCombinationMethod(taskCombinationMethod);
        
        if (actionModelType == "ik_activation") {
            // Create the action model
            auto amIK = new AMIKControllerActivation(graph, tcm);
            std::vector<Task*> tasks;
            
            // Check if the tasks are defined on position or velocity level. Adapt their parameters if desired.
            if (properties->getPropertyBool("positionTasks", true)) {
                RcsBody* tip1R = RcsGraph_getBodyByName(graph, "tip1_R");
                RCHECK(tip1R);
                // Right
                tasks.emplace_back(new TaskPosition1D("Y", graph, rightGrasp, refBody, refFrame));
                tasks.emplace_back(new TaskPosition1D("Z", graph, rightGrasp, refBody, refFrame));
//                tasks.emplace_back(new TaskPosition1D("Y", graph, rightGrasp, refBody, refFrame));
                tasks.emplace_back(new TaskDistance(graph, tip1R, box, 0.05));
            }
            
            else {
                // Right
                tasks.emplace_back(new TaskVelocity1D("Yd", graph, rightGrasp, refBody, refFrame));
                tasks.emplace_back(new TaskVelocity1D("Zd", graph, rightGrasp, refBody, refFrame));
            }
            
            // Add the tasks
            for (auto t : tasks) { amIK->addTask(t); }
            
            // Add the always active tasks
            amIK->addAlwaysActiveTask(new TaskPosition1D("X", graph, rightGrasp, basket, basket));
//            amIK->addAlwaysActiveTask(new TaskOmega1D("Cd", graph, rightGrasp, nullptr, nullptr));
            
            // Set the tasks' desired states
            std::vector<PropertySource*> taskSpec = properties->getChildList("taskSpecIK");
            amIK->setXdesFromTaskSpec(taskSpec);
            
            // Incorporate collision costs into IK
            if (properties->getPropertyBool("collisionAvoidanceIK", true)) {
                REXEC(4) {
                    std::cout << "IK considers the provided collision model" << std::endl;
                }
                amIK->setupCollisionModel(collisionMdl);
            }
            
            return amIK;
        }
        
        else if (actionModelType == "ds_activation") {
            // Initialize action model and tasks
            std::unique_ptr<AMIKGeneric> innerAM(new AMIKGeneric(graph));
            std::vector<std::unique_ptr<DynamicalSystem>> tasks;
            
            // Control effector positions and orientation
            if (properties->getPropertyBool("positionTasks", false)) {
                // Right
                innerAM->addTask(new TaskPosition3D(graph, rightGrasp, basket, basket));
                innerAM->addTask(new TaskEuler3D(graph, rightGrasp, basket, basket));
                innerAM->addTask(TaskFactory::createTask(
                    R"(<Task name="Hand R Joints" controlVariable="Joints" jnts="fing1-knuck1_R tip1-fing1_R fing2-knuck2_R tip2-fing2_R fing3-knuck3_R tip3-fing3_R knuck1-base_R" tmc="0.1" vmax="1000" active="untrue"/>)",
                    graph)
                );
//                innerAM->addTask(TaskFactory::createTask(
//                    R"(<Task name="Distance R" controlVariable="Distance" effector="tip2_R" refBdy="Box" gainDX="1." active="true"/>)",
//                    graph)
//                );
                
                // Obtain task data (depends on the order of the MPs coming from Pyrado)
                // Right
                unsigned int i = 0;
                std::vector<unsigned int> taskDimsRight{
                    3, 3, 3, 3, 7
                };
                std::vector<unsigned int> offsetsRight{
                    0, 0, 3, 3, 6
                };
                auto& tsRight = properties->getChildList("tasksRight");
                for (auto tsk : tsRight) {
                    DynamicalSystem* ds = DynamicalSystem::create(tsk, taskDimsRight[i]);
                    tasks.emplace_back(new DSSlice(ds, offsetsRight[i], taskDimsRight[i]));
                    i++;
                }
            }
                
                // Control effector velocity and orientation
            else {
                // Right
                innerAM->addTask(new TaskVelocity1D("Xd", graph, rightGrasp, refBody, refFrame));
                innerAM->addTask(new TaskVelocity1D("Yd", graph, rightGrasp, refBody, refFrame));
                innerAM->addTask(new TaskVelocity1D("Zd", graph, rightGrasp, refBody, refFrame));
                innerAM->addTask(new TaskOmega1D("Ad", graph, rightGrasp, refBody, refFrame));
                innerAM->addTask(new TaskOmega1D("Bd", graph, rightGrasp, refBody, refFrame));
                innerAM->addTask(new TaskOmega1D("Cd", graph, rightGrasp, refBody, refFrame));
                //        innerAM->addTask(new TaskJoint(graph, RcsGraph_getJointByName(graph, "fing1-knuck1_R")));
                innerAM->addTask(TaskFactory::createTask(
                    R"(<Task name="Hand R Joints" controlVariable="Joints" jnts="fing1-knuck1_R tip1-fing1_R fing2-knuck2_R tip2-fing2_R fing3-knuck3_R tip3-fing3_R knuck1-base_R" tmc="0.1" vmax="1000" active="untrue"/>)",
                    graph)
                );
                
                // Obtain task data (depends on the order of the MPs coming from Pyrado)
                // Right
                unsigned int i = 0;
                std::vector<unsigned int> taskDimsRight{
                    1, 1, 1, 1, 1, 1, 7
                };
                std::vector<unsigned int> offsetsRight{
                    0, 1, 2, 3, 4, 5, 6
                };
                auto& tsRight = properties->getChildList("tasksRight");
                for (auto tsk : tsRight) {
                    DynamicalSystem* ds = DynamicalSystem::create(tsk, taskDimsRight[i]);
                    tasks.emplace_back(new DSSlice(ds, offsetsRight[i], taskDimsRight[i]));
                    i++;
                }
            }
            
            if (tasks.empty()) {
                throw std::invalid_argument("No tasks specified!");
            }
            
            // Incorporate collision costs into IK
            if (properties->getPropertyBool("collisionAvoidanceIK", true)) {
                REXEC(4) {
                    std::cout << "IK considers the provided collision model" << std::endl;
                }
                innerAM->setupCollisionModel(collisionMdl);
            }
            
            // Setup task-based action model
            std::vector<DynamicalSystem*> taskRel;
            for (auto& task : tasks) {
                taskRel.push_back(task.release());
            }
            
            return new AMDynamicalSystemActivation(innerAM.release(), taskRel, tcm);
        }
        
        else {
            std::ostringstream os;
            os << "Unsupported action model type: " << actionModelType;
            throw std::invalid_argument(os.str());
        }
    }
    
    virtual ObservationModel* createObservationModel()
    {
        std::unique_ptr<OMCombined> fullState(new OMCombined());
        
        // Observe effector positions (and velocities)
        if (properties->getPropertyBool("observeVelocities", false)) {
            auto omRightLin = new OMBodyStateLinear(graph, "PowerGrasp_R"); // in world coordinates
            omRightLin->setMinState({0.4, -0.8, 0.6});  // [m]
            omRightLin->setMaxState({1.6, 0.8, 1.4});  // [m]
            omRightLin->setMaxVelocity(3.); // [m/s]
            fullState->addPart(OMPartial::fromMask(omRightLin, {false, true, true}));
        }
        else {
            auto omRightLin = new OMBodyStateLinearPositions(graph, "PowerGrasp_R"); // in world coordinates
            omRightLin->setMinState({0.4, -0.8, 0.6});  // [m]
            omRightLin->setMaxState({1.6, 0.8, 1.4});  // [m]
            fullState->addPart(OMPartial::fromMask(omRightLin, {false, true, true}));
        }
        
        // Observe box positions (and velocities)
        if (properties->getPropertyBool("observeVelocities", false)) {
//        auto omBoxLin = new OMBodyStateLinear(graph, "Box", "Table", "Table");  // in relative coordinates
            auto omBoxLin = new OMBodyStateLinear(graph, "Box"); // in world coordinates
            omBoxLin->setMinState({0.4, -0.8, 0.6});  // [m]
            omBoxLin->setMaxState({1.6, 0.8, 1.4});  // [m]
            omBoxLin->setMaxVelocity(3.); // [m/s]
            fullState->addPart(OMPartial::fromMask(omBoxLin, {false, true, true}));
        }
        else {
            auto omBoxLin = new OMBodyStateLinearPositions(graph, "Box"); // in world coordinates
            omBoxLin->setMinState({0.4, -0.8, 0.6});  // [m]
            omBoxLin->setMaxState({1.6, 0.8, 1.4});  // [m]
            fullState->addPart(OMPartial::fromMask(omBoxLin, {false, true, true}));
        }
        
        // Observe box orientation (and velocities)
        if (properties->getPropertyBool("observeVelocities", false)) {
            auto omBoxAng = new OMBodyStateAngular(graph, "Box"); // in world coordinates
            omBoxAng->setMaxVelocity(RCS_DEG2RAD(720)); // [rad/s]
            fullState->addPart(OMPartial::fromMask(omBoxAng, {true, false, false}));
        }
        else {
            auto omBoxAng = new OMBodyStateAngularPositions(graph, "Box"); // in world coordinates
            fullState->addPart(OMPartial::fromMask(omBoxAng, {true, false, false}));
        }
        
        // Add goal distances
        if (properties->getPropertyBool("observeDynamicalSystemGoalDistance", false)) {
            auto amAct = actionModel->unwrap<AMDynamicalSystemActivation>();
            RCHECK(amAct);
            fullState->addPart(new OMDynamicalSystemGoalDistance(amAct));
        }
        
        // Add force/torque measurements
        if (properties->getPropertyBool("observeForceTorque", true)) {
            RcsSensor* ftsL = RcsGraph_getSensorByName(graph, "WristLoadCellLBR_L");
            if (ftsL) {
                auto omForceTorque = new OMForceTorque(graph, ftsL->name, 1200, true);
                fullState->addPart(OMPartial::fromMask(omForceTorque, {false, true, true, false, false, false}));
            }
            RcsSensor* ftsR = RcsGraph_getSensorByName(graph, "WristLoadCellLBR_R");
            if (ftsR) {
                auto omForceTorque = new OMForceTorque(graph, ftsR->name, 1200, true);
                fullState->addPart(OMPartial::fromMask(omForceTorque, {false, true, true, false, false, false}));
            }
        }
        
        // Add current collision cost
        if (properties->getPropertyBool("observeCollisionCost", true) & (collisionMdl != nullptr)) {
            // Add the collision cost observation model
            auto omColl = new OMCollisionCost(collisionMdl);
            fullState->addPart(omColl);
        }
        
        // Add predicted collision cost
        if (properties->getPropertyBool("observePredictedCollisionCost", false) & (collisionMdl != nullptr)) {
            // Get the horizon from config
            int horizon = 20;
            properties->getChild("collisionConfig")->getProperty(horizon, "predCollHorizon");
            // Add the collision cost observation model
            auto omCollPred = new OMCollisionCostPrediction(graph, collisionMdl, actionModel, horizon);
            fullState->addPart(omCollPred);
        }
        
        // Add manipulability index
        auto ikModel = actionModel->unwrap<ActionModelIK>();
        if (properties->getPropertyBool("observeManipulabilityIndex", false) && ikModel) {
            bool ocm = properties->getPropertyBool("observeCurrentManipulability", true);
            fullState->addPart(new OMManipulabilityIndex(ikModel, ocm));
        }
        
        // Add the dynamical system discrepancy observation model
        if (properties->getPropertyBool("observeDynamicalSystemDiscrepancy", false) & (collisionMdl != nullptr)) {
            auto castedAM = dynamic_cast<AMDynamicalSystemActivation*>(actionModel);
            if (castedAM) {
                auto omDSDescr = new OMDynamicalSystemDiscrepancy(castedAM);
                fullState->addPart(omDSDescr);
            }
            else {
                throw std::invalid_argument("The action model needs to be of type AMDynamicalSystemActivation!");
            }
        }
        
        // Add the task space discrepancy observation model
        if (properties->getPropertyBool("observeTaskSpaceDiscrepancy", true)) {
            auto wamIK = actionModel->unwrap<ActionModelIK>();
            if (wamIK) {
                auto omTSDescrR = new OMTaskSpaceDiscrepancy("PowerGrasp_R", graph, wamIK->getController()->getGraph());
                fullState->addPart(OMPartial::fromMask(omTSDescrR, {false, true, true}));
            }
            else {
                throw std::invalid_argument("The action model needs to be of type ActionModelIK!");
            }
        }
        
        return fullState.release();
    }
    
    virtual void populatePhysicsParameters(PhysicsParameterManager* manager)
    {
        manager->addParam("Box", new PPDBoxExtents(0, true, true, false)); // the Box body has only 1 shape
        manager->addParam("Box", new PPDMassProperties());
        manager->addParam("Box", new PPDMaterialProperties());
        manager->addParam("Basket", new PPDMassProperties());
        manager->addParam("Basket", new PPDMaterialProperties());
    }
    
    virtual InitStateSetter* createInitStateSetter()
    {
        return new ISSBoxLifting(graph, properties->getPropertyBool("fixedInitState", false));
    }
    
    virtual ForceDisturber* createForceDisturber()
    {
        RcsBody* box = RcsGraph_getBodyByName(graph, "Box");
        RCHECK(box);
        return new ForceDisturber(box, box);
    }
    
    virtual void initViewer(Rcs::Viewer* viewer)
    {
#ifdef GRAPHICS_AVAILABLE
        // Set camera above plate
        RcsBody* table = RcsGraph_getBodyByName(graph, "Table");
        RCHECK(table);
        std::string cameraView = "egoView";
        properties->getProperty(cameraView, "egoView");
        
        // The camera center is 10cm above the the plate's center
        double cameraCenter[3];
        Vec3d_copy(cameraCenter, table->A_BI->org);
        cameraCenter[0] -= 0.2;
        
        // 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 == "egoView") {
            RcsBody* railBot = RcsGraph_getBodyByName(graph, "RailBot");
            RCHECK(railBot);
            
            // Rotate to world frame
            Vec3d_transformSelf(cameraLocation, table->A_BI);
            
            // Move the camera approx where the Kinect would be
            cameraLocation[0] = railBot->A_BI->org[0] + 2.3;
            cameraLocation[1] = 0;
            cameraLocation[2] = railBot->A_BI->org[2] + 1.5;
        }
        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 != nullptr) {
            simName = simulator->getClassName();
        }
        linesOut.emplace_back(
            string_format("physics engine: %s                     sim 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));
        
        unsigned int sd = observationModel->getStateDim();
        
        auto omRightLin = observationModel->findOffsets<OMBodyStateLinear>(); // there are two, we find the first
        if (omRightLin) {
            linesOut.emplace_back(
                string_format("right hand pg: [% 1.3f,% 1.3f,% 1.3f] m   [% 1.3f,% 1.3f,% 1.3f] m/s",
                              obs->ele[omRightLin.pos], obs->ele[omRightLin.pos + 1], obs->ele[omRightLin.pos + 2],
                              obs->ele[sd + omRightLin.vel], obs->ele[sd + omRightLin.vel + 1],
                              obs->ele[sd + omRightLin.vel + 2]));
        }
        
        auto omBoxAng = observationModel->findOffsets<OMBodyStateAngular>(); // assuming there is only the box one
        if (omBoxAng && omRightLin) {
            linesOut.emplace_back(
                string_format("box absolute:  [% 1.3f,% 1.3f,% 1.3f] m   [% 3.0f,% 3.0f,% 3.0f] deg",
                              obs->ele[omRightLin.pos + 3], obs->ele[omRightLin.pos + 4], obs->ele[omRightLin.pos + 5],
                              RCS_RAD2DEG(obs->ele[omBoxAng.pos]), RCS_RAD2DEG(obs->ele[omBoxAng.pos + 1]),
                              RCS_RAD2DEG(obs->ele[omBoxAng.pos + 2])));
        }
        else if (omRightLin) {
            linesOut.emplace_back(
                string_format("box absolute:  [% 1.3f,% 1.3f,% 1.3f] m",
                              obs->ele[omRightLin.pos + 3], obs->ele[omRightLin.pos + 4],
                              obs->ele[omRightLin.pos + 5]));
        }
        
        auto omFTS = observationModel->findOffsets<OMForceTorque>();
        if (omFTS) {
            linesOut.emplace_back(
                string_format("forces right:  [% 3.1f, % 3.1f, % 3.1f] N",
                              obs->ele[omFTS.pos], obs->ele[omFTS.pos + 1], obs->ele[omFTS.pos + 2]));
        }
        
        auto omColl = observationModel->findOffsets<OMCollisionCost>();
        auto omCollPred = observationModel->findOffsets<OMCollisionCostPrediction>();
        if (omColl && omCollPred) {
            linesOut.emplace_back(
                string_format("coll cost:       %3.2f                    pred coll cost: %3.2f",
                              obs->ele[omColl.pos], obs->ele[omCollPred.pos]));
            
        }
        else if (omColl) {
            linesOut.emplace_back(string_format("coll cost:       %3.2f", obs->ele[omColl.pos]));
        }
        else if (omCollPred) {
            linesOut.emplace_back(string_format("pred coll cost:   %3.2f", obs->ele[omCollPred.pos]));
        }
        
        auto omMI = observationModel->findOffsets<OMManipulabilityIndex>();
        if (omMI) {
            linesOut.emplace_back(string_format("manip idx:       %1.3f", obs->ele[omMI.pos]));
        }
        
        auto omGD = observationModel->findOffsets<OMDynamicalSystemGoalDistance>();
        if (omGD) {
            if (properties->getPropertyBool("positionTasks", false)) {
                linesOut.emplace_back(
                    string_format("goal distance: [% 1.2f,% 1.2f,% 1.2f,% 1.2f,% 1.2f,\n"
                                  "               % 1.2f,% 1.2f,% 1.2f,% 1.2f,% 1.2f,% 1.2f]",
                                  obs->ele[omGD.pos], obs->ele[omGD.pos + 1], obs->ele[omGD.pos + 2],
                                  obs->ele[omGD.pos + 3], obs->ele[omGD.pos + 4],
                                  obs->ele[omGD.pos + 5], obs->ele[omGD.pos + 6], obs->ele[omGD.pos + 7],
                                  obs->ele[omGD.pos + 8], obs->ele[omGD.pos + 9], obs->ele[omGD.pos + 10]));
            }
        }
        
        auto omTSD = observationModel->findOffsets<OMTaskSpaceDiscrepancy>();
        if (omTSD) {
            linesOut.emplace_back(
                string_format("ts delta:      [% 1.3f,% 1.3f,% 1.3f] m",
                              obs->ele[omTSD.pos], obs->ele[omTSD.pos + 1], obs->ele[omTSD.pos + 2]));
        }
        
        std::stringstream ss;
        ss << "actions:       [";
        for (unsigned int i = 0; i < currentAction->m - 1; i++) {
            ss << std::fixed << std::setprecision(2) << MatNd_get(currentAction, i, 0) << ", ";
            if (i == 6) {
                ss << "\n                ";
            }
        }
        ss << std::fixed << std::setprecision(2) << MatNd_get(currentAction, currentAction->m - 1, 0) << "]";
        linesOut.emplace_back(string_format(ss.str()));
        
        auto castedAM = dynamic_cast<AMDynamicalSystemActivation*>(actionModel);
        if (castedAM) {
            std::stringstream ss;
            ss << "activations:   [";
            for (unsigned int i = 0; i < castedAM->getDim() - 1; i++) {
                ss << std::fixed << std::setprecision(2) << MatNd_get(castedAM->getActivation(), i, 0) << ", ";
                if (i == 6) {
                    ss << "\n                ";
                }
            }
            ss << std::fixed << std::setprecision(2) <<
               MatNd_get(castedAM->getActivation(), castedAM->getDim() - 1, 0) << "]";
            linesOut.emplace_back(string_format(ss.str()));
            
            linesOut.emplace_back(string_format("tcm:            %s", castedAM->getTaskCombinationMethodName()));
        }
        
        if (physicsManager != nullptr) {
            // Get the parameters that are not stored in the Rcs graph
            BodyParamInfo* box_bpi = physicsManager->getBodyInfo("Box");
            BodyParamInfo* basket_bpi = physicsManager->getBodyInfo("Basket");
            
            linesOut.emplace_back(
                string_format("box width:   %1.3f m           box length: %1.3f m",
                              box_bpi->body->shape[0]->extents[0], box_bpi->body->shape[0]->extents[1]));
            linesOut.emplace_back(
                string_format("box mass:    %1.2f kg      box frict coeff: %1.3f  ",
                              box_bpi->body->m, box_bpi->material.getFrictionCoefficient()));
            linesOut.emplace_back(
                string_format("basket mass: %1.2f kg   basket frict coeff: %1.3f  ",
                              basket_bpi->body->m, basket_bpi->material.getFrictionCoefficient()));
        }
    }
    
};

// Register
static ExperimentConfigRegistration<ECBoxLifting> RegBoxLifting("BoxLifting");
    
}