ECBoxShelving.cpp

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    or Technical University of Darmstadt, nor the names of its contributors may
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#include "ExperimentConfig.h"
#include "action/ActionModelIK.h"
#include "action/AMDynamicalSystemActivation.h"
#include "initState/ISSBoxShelving.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 <TaskOmega1D.h>
#include <TaskEuler3D.h>
#include <TaskFactory.h>

#ifdef GRAPHICS_AVAILABLE

#include <RcsViewer.h>

#endif

#include <memory>
#include <iomanip>

namespace Rcs
{
class ECBoxShelving : public ExperimentConfig
{
    virtual ActionModel* createActionModel()
    {
        // Setup inner action model
        RcsBody* leftGrasp = RcsGraph_getBodyByName(graph, "PowerGrasp_L");
        RCHECK(leftGrasp);
        
        // Get reference frames (for now identical for all tasks)
        std::string refFrameType = "world";
        properties->getProperty(refFrameType, "refFrame");
        RcsBody* refBody = nullptr;
        RcsBody* refFrame = nullptr;
        if (refFrameType == "world") {
            // Keep nullptr
        }
        else if (refFrameType == "box") {
            RcsBody* box = RcsGraph_getBodyByName(graph, "Box");
            RCHECK(box);
            refBody = box;
            refFrame = box;
        }
        else if (refFrameType == "upperGoal") {
            RcsBody* goalUpperShelve = RcsGraph_getBodyByName(graph, "GoalUpperShelve");
            RCHECK(goalUpperShelve);
            refBody = goalUpperShelve;
            refFrame = goalUpperShelve;
        }
        else {
            std::ostringstream os;
            os << "Unsupported reference frame type: " << refFrame;
            throw std::invalid_argument(os.str());
        }
        
        // 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", true)) {
            // Left
            innerAM->addTask(new TaskPosition3D(graph, leftGrasp, refBody, refFrame));
            innerAM->addTask(new TaskEuler3D(graph, leftGrasp, refBody, refFrame));
            innerAM->addTask(TaskFactory::createTask(
                R"(<Task name="Hand L Joints" controlVariable="Joints" jnts="fing1-knuck1_L tip1-fing1_L fing2-knuck2_L tip2-fing2_L fing3-knuck3_L tip3-fing3_L knuck1-base_L" tmc="0.1" vmax="1000" active="untrue"/>)",
                graph)
            );
            
            // Obtain task data
            unsigned int i = 0;
            std::vector<unsigned int> taskDimsLeft{3, 3, 3, 3, 3, 7};
            std::vector<unsigned int> offsetsLeft{0, 0, 0, 3, 3, 6};
            auto& tsLeft = properties->getChildList("tasksLeft");
            for (auto tsk : tsLeft) {
                DynamicalSystem* ds = DynamicalSystem::create(tsk, taskDimsLeft[i]);
                tasks.emplace_back(new DSSlice(ds, offsetsLeft[i], taskDimsLeft[i]));
                i++;
            }
        }
            // Control effector velocity and orientation
        else {
            // Left
            innerAM->addTask(new TaskVelocity1D("Xd", graph, leftGrasp, refBody, refFrame));
            innerAM->addTask(new TaskVelocity1D("Yd", graph, leftGrasp, refBody, refFrame));
            innerAM->addTask(new TaskVelocity1D("Zd", graph, leftGrasp, refBody, refFrame));
            innerAM->addTask(new TaskOmega1D("Ad", graph, leftGrasp, nullptr, nullptr));
            innerAM->addTask(new TaskOmega1D("Bd", graph, leftGrasp, nullptr, nullptr));
            innerAM->addTask(TaskFactory::createTask(
                R"(<Task name="Hand L Joints" controlVariable="Joints" jnts="fing1-knuck1_L tip1-fing1_L fing2-knuck2_L tip2-fing2_L fing3-knuck3_L tip3-fing3_L knuck1-base_L" tmc="0.1" vmax="1000" active="untrue"/>)",
                graph)
            );
            
            // Obtain task data
            unsigned int i = 0;
            std::vector<unsigned int> taskDimsLeft;
            std::vector<unsigned int> offsetsLeft;
            if (properties->getPropertyBool("bidirectionalMPs", true)) {
                taskDimsLeft = {1, 1, 1, 1, 1, 7};
                offsetsLeft = {0, 1, 2, 3, 4, 5};
            }
            else {
                taskDimsLeft = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 7};
                offsetsLeft = {0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 5};
            }
            auto& tsLeft = properties->getChildList("tasksLeft");
            for (auto tsk : tsLeft) {
                DynamicalSystem* ds = DynamicalSystem::create(tsk, taskDimsLeft[i]);
                tasks.emplace_back(new DSSlice(ds, offsetsLeft[i], taskDimsLeft[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());
        }
        
        // Get the method how to combine the movement primitives / tasks given their activation
        std::string taskCombinationMethod = "unspecified";
        properties->getProperty(taskCombinationMethod, "taskCombinationMethod");
        TaskCombinationMethod tcm = AMDynamicalSystemActivation::checkTaskCombinationMethod(taskCombinationMethod);
        
        return new AMDynamicalSystemActivation(innerAM.release(), taskRel, tcm);
    }
    
    virtual ObservationModel* createObservationModel()
    {
        // Observe effector positions (and velocities)
        std::unique_ptr<OMCombined> fullState(new OMCombined());
        
        if (properties->getPropertyBool("observeVelocities", true)) {
            auto omLeftLin = new OMBodyStateLinear(graph, "PowerGrasp_L"); // in world coordinates
            omLeftLin->setMinState({-0.2, -0.5, 0.7});  // [m]
            omLeftLin->setMaxState({2.1, 0.8, 2.0});  // [m]
            omLeftLin->setMaxVelocity(3.); // [m/s]
            fullState->addPart(omLeftLin);
        }
        else {
            auto omLeftLin = new OMBodyStateLinearPositions(graph, "PowerGrasp_L"); // in world coordinates
            omLeftLin->setMinState({-0.2, -0.5, 0.7});  // [m]
            omLeftLin->setMaxState({2.1, 0.8, 2.0});  // [m]
            fullState->addPart(omLeftLin);
        }
        
        // Observe box positions (and velocities)
        if (properties->getPropertyBool("observeVelocities", true)) {
            auto omBoxLin = new OMBodyStateLinear(graph, "Box", "GoalUpperShelve",
                                                  "GoalUpperShelve");  // in relative coordinates
            omBoxLin->setMinState({-0.2, -0.6, -0.5});  // [m]
            omBoxLin->setMaxState({1.8, 0.6, 1.0});  // [m]
            omBoxLin->setMaxVelocity(5.); // [m/s]
            fullState->addPart(omBoxLin);
        }
        else {
            auto omBoxLin = new OMBodyStateLinearPositions(graph, "Box", "GoalUpperShelve",
                                                           "GoalUpperShelve");  // in relative coordinates
            omBoxLin->setMinState({-0.2, -0.6, -0.5});  // [m]
            omBoxLin->setMaxState({1.8, 0.6, 1.0});  // [m]
            fullState->addPart(omBoxLin);
        }
        
        // Observe box orientation in the world frame
        if (properties->getPropertyBool("observeVelocities", true)) {
            auto omBoxAng = new OMBodyStateAngular(graph, "Box");
            omBoxAng->setMaxVelocity(RCS_DEG2RAD(360)); // [rad/s]
            fullState->addPart(omBoxAng);
        }
        else {
            auto omBoxAng = new OMBodyStateAngularPositions(graph, "Box");
            fullState->addPart(omBoxAng);
        }
        
        // 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);
                fullState->addPart(OMPartial::fromMask(omForceTorque, {true, 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 omTSDescr = new OMTaskSpaceDiscrepancy("PowerGrasp_L", graph, wamIK->getController()->getGraph());
                fullState->addPart(omTSDescr);
            }
            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 PPDMassProperties());
        manager->addParam("Box", new PPDMaterialProperties());
        manager->addParam("Box", new PPDBoxExtents(0, true, true, true));
    }
    
    virtual InitStateSetter* createInitStateSetter()
    {
        return new ISSBoxShelving(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 = "overLeftShoulder";
        properties->getProperty(cameraView, "overLeftShoulder");
        
        // The camera center is 10cm above the the plate's center
        double cameraCenter[3];
        Vec3d_copy(cameraCenter, table->A_BI->org);
        cameraCenter[2] += 0.1;
        
        // 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 == "overLeftShoulder") {
            RcsBody* leftShoulder = RcsGraph_getBodyByName(graph, "lbr_link_0_L");
            // Shift camera behind the left shoulder
            cameraLocation[0] = leftShoulder->A_BI->org[0] - 2.2;
            cameraLocation[1] = leftShoulder->A_BI->org[1] + 1.2;
            cameraLocation[2] = leftShoulder->A_BI->org[2] + 0.5;
            
            // Rotate to world frame
            Vec3d_transformSelf(cameraLocation, table->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 != 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 omLeftLin = observationModel->findOffsets<OMBodyStateLinear>(); // there are two, we find the first
        if (omLeftLin) {
            linesOut.emplace_back(
                string_format("left hand pg: [% 1.3f,% 1.3f,% 1.3f] m   [% 1.3f,% 1.3f,% 1.3f] m/s",
                              obs->ele[omLeftLin.pos], obs->ele[omLeftLin.pos + 1], obs->ele[omLeftLin.pos + 2],
                              obs->ele[sd + omLeftLin.vel], obs->ele[sd + omLeftLin.vel + 1],
                              obs->ele[sd + omLeftLin.vel + 2]));
        }
        
        auto omBoxAng = observationModel->findOffsets<OMBodyStateAngular>(); // assuming there is only the box one
        if (omBoxAng && omLeftLin) {
            linesOut.emplace_back(
                string_format("box relative: [% 1.3f,% 1.3f,% 1.3f] m   [% 3.0f,% 3.0f,% 3.0f] deg",
                              obs->ele[omLeftLin.pos + 3], obs->ele[omLeftLin.pos + 4], obs->ele[omLeftLin.pos + 5],
                              RCS_RAD2DEG(obs->ele[omBoxAng.pos]), RCS_RAD2DEG(obs->ele[omBoxAng.pos + 1]),
                              RCS_RAD2DEG(obs->ele[omBoxAng.pos + 2])));
        }
        else if (omLeftLin) {
            linesOut.emplace_back(
                string_format("box relative: [% 1.3f,% 1.3f,% 1.3f] m",
                              obs->ele[omLeftLin.pos + 3], obs->ele[omLeftLin.pos + 4], obs->ele[omLeftLin.pos + 5]));
        }
        
        auto omFTS = observationModel->findOffsets<OMForceTorque>();
        if (omFTS) {
            linesOut.emplace_back(
                string_format("forces:       [% 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 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");
            
            linesOut.emplace_back(string_format("box mass:      %1.2f kg         box frict coeff: %1.3f ",
                                                box_bpi->body->m, box_bpi->material.getFrictionCoefficient()));
        }
    }
    
};

// Register
static ExperimentConfigRegistration<ECBoxShelving> RegBoxShelving("BoxShelving");
    
}