ECMPBlending.cpp

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#include "ExperimentConfig.h"
#include "action/AMIKControllerActivation.h"
#include "action/AMIntegrate2ndOrder.h"
#include "action/AMDynamicalSystemActivation.h"
#include "action/ActionModelIK.h"
#include "initState/ISSMPBlending.h"
#include "observation/OMBodyStateLinear.h"
#include "observation/OMCombined.h"
#include "observation/OMPartial.h"
#include "physics/PhysicsParameterManager.h"
#include "physics/PPDMassProperties.h"
#include "physics/PPDMaterialProperties.h"
#include "physics/ForceDisturber.h"
#include "util/string_format.h"

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

#include <TaskPosition1D.h>
#include <TaskVelocity1D.h>

#ifdef GRAPHICS_AVAILABLE

#include <RcsViewer.h>

#endif

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

namespace Rcs
{

class ECMPblending : public ExperimentConfig
{
    virtual ActionModel* createActionModel()
    {
        std::string actionModelType = "unspecified";
        properties->getProperty(actionModelType, "actionModelType");
        
        // 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);
        
        RcsBody* effector = RcsGraph_getBodyByName(graph, "Effector");
        RCHECK(effector);
        
        if (actionModelType == "ds_activation") {
            // Obtain the inner action model
            std::unique_ptr<AMIKGeneric> innerAM(new AMIKGeneric(graph));
            
            // Check if the MPs are defined on position or velocity level
            if (properties->getPropertyBool("positionTasks", true)) {
                innerAM->addTask(new TaskPosition1D("X", graph, effector, nullptr, nullptr));
                innerAM->addTask(new TaskPosition1D("Y", graph, effector, nullptr, nullptr));
            }
            else {
                innerAM->addTask(new TaskVelocity1D("Xd", graph, effector, nullptr, nullptr));
                innerAM->addTask(new TaskVelocity1D("Yd", graph, effector, nullptr, nullptr));
            }
            
            // Obtain the task data
            auto& taskSpec = properties->getChildList("tasks");
            if (taskSpec.empty()) {
                throw std::invalid_argument("No tasks specified!");
            }
            std::vector<std::unique_ptr<DynamicalSystem>> tasks;
            for (auto ts : taskSpec) {
                // All tasks cover the x and y coordinate
                tasks.emplace_back(DynamicalSystem::create(ts, innerAM->getDim()));
            }
            
            // Setup task-based action model
            std::vector<DynamicalSystem*> taskRel;
            for (auto& task : tasks) {
                taskRel.push_back(task.release());
            }
            
            // Create the action model
            return new AMDynamicalSystemActivation(innerAM.release(), taskRel, tcm);
        }
        
        else 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* goalLL = RcsGraph_getBodyByName(graph, "GoalLL");
                RcsBody* goalUL = RcsGraph_getBodyByName(graph, "GoalUL");
                RcsBody* goalLR = RcsGraph_getBodyByName(graph, "GoalLR");
                RcsBody* goalUR = RcsGraph_getBodyByName(graph, "GoalUR");
                RCHECK(goalLL);
                RCHECK(goalUL);
                RCHECK(goalLR);
                RCHECK(goalUR);
                int i = 0;
                
                tasks.emplace_back(new TaskPosition3D(graph, effector, goalLL, nullptr));
                tasks.emplace_back(new TaskPosition3D(graph, effector, goalUL, nullptr));
                tasks.emplace_back(new TaskPosition3D(graph, effector, goalLR, nullptr));
                tasks.emplace_back(new TaskPosition3D(graph, effector, goalUR, nullptr));
                for (auto task : tasks) {
                    std::stringstream taskName;
                    taskName << " Position " << i++ << " [m]";
                    task->resetParameter(
                        Task::Parameters(-1.2, 1.2, 1.0, static_cast<std::string>("X") + taskName.str()));
                    task->addParameter(
                        Task::Parameters(-1.2, 1.2, 1.0, static_cast<std::string>("Y") + taskName.str()));
                    task->addParameter(Task::Parameters(0.1, 0.2, 1.0, static_cast<std::string>("Z") + taskName.str()));
                }
            }
            else {
                throw std::invalid_argument("The combination of velocity-based tasks and AMIKControllerActivation is"
                                            "not supported!");
            }
            
            // Add the tasks
            for (auto t : tasks) { amIK->addTask(t); }
            
            // Set the tasks' desired states
            std::vector<PropertySource*> taskSpec = properties->getChildList("taskSpecIK");
            amIK->setXdesFromTaskSpec(taskSpec);
            
            return amIK;
        }
        
        else {
            std::ostringstream os;
            os << "Unsupported action model type: " << actionModelType;
            throw std::invalid_argument(os.str());
        }
    }
    
    virtual ObservationModel* createObservationModel()
    {
        auto fullState = new OMCombined();
        
        // Observe effector position
        auto omLin = new OMBodyStateLinear(graph, "Effector", "GroundPlane");
        fullState->addPart(OMPartial::fromMask(omLin, {true, true, false}));  // mask out z axis
        
        return fullState;
    }
    
    virtual void populatePhysicsParameters(PhysicsParameterManager* manager)
    {
        manager->addParam("Effector", new PPDMassProperties());  // not necessary
    }
    
    virtual InitStateSetter* createInitStateSetter()
    {
        return new ISSMPBlending(graph);
    }
    
    virtual ForceDisturber* createForceDisturber()
    {
        RcsBody* eff = RcsGraph_getBodyByName(graph, "Effector");
        RCHECK(eff);
        return new ForceDisturber(eff, NULL);
    }
    
    virtual void initViewer(Rcs::Viewer* viewer)
    {
#ifdef GRAPHICS_AVAILABLE
        // Set camera next to base
        RcsBody* base = RcsGraph_getBodyByName(graph, "Effector");
        double cameraCenter[3];
        Vec3d_copy(cameraCenter, base->A_BI->org);
        
        // Set the camera position
        double cameraLocation[3];
        cameraLocation[0] = 1.5;
        cameraLocation[1] = -2.5;
        cameraLocation[2] = 4.;
        
        // Camera up vector defaults to z
        double cameraUp[3];
        Vec3d_setUnitVector(cameraUp, 2);
        
        // Apply 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 sd = observationModel->getStateDim();
        
        linesOut.emplace_back(
            string_format("end-eff pos:   [% 1.3f,% 1.3f] m  end-eff vel:   [% 1.2f,% 1.2f] m/s",
                          obs->ele[0], obs->ele[1], obs->ele[sd], obs->ele[sd + 1]));
        
        linesOut.emplace_back(
            string_format("actions:       [% 1.3f,% 1.3f,% 1.3f,% 1.3f]", currentAction->ele[0], currentAction->ele[1],
                          currentAction->ele[2], currentAction->ele[3]));
        
        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 != nullptr) {
            // Get the parameters that are not stored in the Rcs graph
            BodyParamInfo* eff_bpi = physicsManager->getBodyInfo("Effector");
            linesOut.emplace_back(string_format("effector mass:    % 1.3f kg", eff_bpi->body->m));
        }
    }
};

// Register
static ExperimentConfigRegistration<ECMPblending> RegMPBlending("MPBlending");
    
}