ECMiniGolf.cpp

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#include "ExperimentConfig.h"
#include "action/ActionModelIK.h"
#include "action/AMJointControlPosition.h"
#include "initState/ISSMiniGolf.h"
#include "observation/OMBodyStateLinear.h"
#include "observation/OMBodyStateAngular.h"
#include "observation/OMCombined.h"
#include "observation/OMJointState.h"
#include "observation/OMForceTorque.h"
#include "observation/OMPartial.h"
#include "observation/OMTaskSpaceDiscrepancy.h"
#include "physics/PhysicsParameterManager.h"
#include "physics/PPDBodyOrientation.h"
#include "physics/PPDBodyPosition.h"
#include "physics/PPDMassProperties.h"
#include "physics/PPDMaterialProperties.h"
#include "physics/PPDSphereRadius.h"
#include "util/string_format.h"

#include <Rcs_Mat3d.h>
#include <Rcs_Vec3d.h>
#include <Rcs_typedef.h>
#include <Rcs_macros.h>
#include <TaskDistance1D.h>
#include <TaskEuler1D.h>
#include <TaskFactory.h>
#include <TaskPosition1D.h>
#include <TaskVelocity1D.h>

#ifdef GRAPHICS_AVAILABLE

#include <RcsViewer.h>

#endif

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

namespace Rcs
{

class ECMiniGolf : public ExperimentConfig
{
    
    virtual ActionModel* createActionModel()
    {
        std::string actionModelType = "unspecified";
        properties->getProperty(actionModelType, "actionModelType");
        
        // Common for the action models
        RcsBody* ground = RcsGraph_getBodyByName(graph, "Ground");
        RCHECK(ground);
        RcsBody* club = RcsGraph_getBodyByName(graph, "Club");
        RCHECK(club);
        RcsBody* clubTip = RcsGraph_getBodyByName(graph, "ClubTip");
        RCHECK(clubTip);
        RcsBody* ball = RcsGraph_getBodyByName(graph, "Ball");
        RCHECK(ball);
        
        if (actionModelType == "joint_pos") {
            return new AMJointControlPosition(graph);
        }
        
        else if (actionModelType == "ik") {
            // Create the action model. Every but the x tasks have been fixed tasks originally, but now are constant
            // outputs on the policy. This way, we can use the same policy structure in the pre-strike ControlPolicy
            // on the real robot.
            auto amIK = new AMIKGeneric(graph);
            if (properties->getPropertyBool("positionTasks", true)) {
                if (properties->getPropertyBool("relativeZdTask", true)) {
                    // Driving
                    auto tmpTask = new TaskVelocity1D("Zd", graph, ball, clubTip, nullptr);
                    tmpTask->resetParameter(Task::Parameters(-100.0, 100.0, 1.0, "Z Velocity [m/s]"));
                    amIK->addTask(tmpTask);
                    // Centering
                    amIK->addTask(new TaskPosition1D("Y", graph, ball, clubTip, nullptr));
                    amIK->addTask(new TaskDistance1D(graph, club, ground, 2));
                    amIK->addTask(TaskFactory::createTask(
                        R"(<Task name="ClubTip_Polar" controlVariable="POLAR" effector="ClubTip"  active="true" />)",
                        graph)
                    );
                }
                else {
                    // Driving
                    amIK->addTask(new TaskPosition1D("X", graph, clubTip, nullptr, nullptr));
                    // Centering
//                    amIK->addTask(new TaskPosition1D("X", graph, ball, clubTip, nullptr));
                    amIK->addTask(new TaskPosition1D("Y", graph, ball, clubTip, nullptr));
                    amIK->addTask(new TaskDistance1D(graph, club, ground, 2));
                    amIK->addTask(TaskFactory::createTask(
                        R"(<Task name="ClubTip_Polar" controlVariable="POLAR" effector="ClubTip"  active="true" />)",
                        graph)
                    );
                    /*
                    amIK->addTask(new TaskPosition1D("X", graph, clubTip, refBody, refFrame));
                    amIK->addTask(new TaskPosition1D("Y", graph, ball, clubTip, ground));
                    amIK->addTask(new TaskDistance1D(graph, club, ground, 2));
                    amIK->addTask(new TaskEuler1D("C", graph, clubTip, nullptr, ground));
                     */
                }
            }
            
            else {
                throw std::invalid_argument("Velocity tasks are not implemented for AMIKGeneric in this environment.");
            }
            
            // Incorporate collision costs into IK
            if (properties->getPropertyBool("collisionAvoidanceIK", false)) {
                REXEC(4) {
                    std::cout << "IK considers the provided collision model" << std::endl;
                }
                amIK->setupCollisionModel(collisionMdl);
            }
            
            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 the ball
        if (properties->getPropertyBool("observeVelocities", false)) {
            auto omLinBall = new OMBodyStateLinear(graph, "Ball", nullptr);
            omLinBall->setMinState({-5, -5, 0}); // [m]
            omLinBall->setMaxState({3, 3, 0.1}); // [m]
            omLinBall->setMaxVelocity(10); // [m/s]
            fullState->addPart(omLinBall);
        }
        else {
            auto omLinBall = new OMBodyStateLinearPositions(graph, "Ball", nullptr);
            omLinBall->setMinState({-3, -3, 0}); // [m]
            omLinBall->setMaxState({3, 3, 0.1}); // [m]
            fullState->addPart(omLinBall);
        }
        
        // Observe the club
        if (properties->getPropertyBool("observeVelocities", false)) {
            auto omLinClub = new OMBodyStateLinear(graph, "ClubTip", nullptr);
            omLinClub->setMinState({-3, -3, 0}); // [m]
            omLinClub->setMaxState({3, 3, 2}); // [m]
            omLinClub->setMaxVelocity(5); // [m/s]
            fullState->addPart(omLinClub);
        }
        else {
            auto omLinClub = new OMBodyStateLinearPositions(graph, "ClubTip", nullptr);
            omLinClub->setMinState({-3, -3, 0}); // [m]
            omLinClub->setMaxState({3, 3, 2}); // [m]
            fullState->addPart(omLinClub);
        }
        
        // Observe the club
        if (properties->getPropertyBool("observeVelocities", false)) {
            auto omAng = new OMBodyStateAngular(graph, "ClubTip", nullptr);
            omAng->setMaxVelocity(20); // [rad/s]
            fullState->addPart(omAng);
        }
        else {
            auto omAng = new OMBodyStateAngularPositions(graph, "ClubTip", nullptr);
            fullState->addPart(omAng);
        }
        
        // Observe the robot's joints
        std::list<std::string> listOfJointNames = {"base-m3", "m3-m4", "m4-m5", "m5-m6", "m6-m7", "m7-m8", "m8-m9"};
        for (std::string jointName : listOfJointNames) {
            fullState->addPart(new OMJointStatePositions(graph, jointName.c_str(), false));
        }
        
        std::string actionModelType = "unspecified";
        properties->getProperty(actionModelType, "actionModelType");
        
        // Add force/torque measurements
        if (properties->getPropertyBool("observeForceTorque", false)) {
            RcsSensor* fts = RcsGraph_getSensorByName(graph, "WristLoadCellSchunk");
            if (fts) {
                auto omForceTorque = new OMForceTorque(graph, fts->name, 1000);
                fullState->addPart(OMPartial::fromMask(omForceTorque, {true, true, true, false, false, false}));
            }
        }
        
        return fullState;
    }
    
    virtual void populatePhysicsParameters(PhysicsParameterManager* manager)
    {
        manager->addParam("Ball", new PPDSphereRadius("Ground"));
        manager->addParam("Ball", new PPDMassProperties());
        manager->addParam("Ball", new PPDMaterialProperties());
        manager->addParam("Club", new PPDMassProperties());
        manager->addParam("Ground", new PPDMaterialProperties());
        manager->addParam("ObstacleLeft", new PPDBodyPosition(true, true, false));
        manager->addParam("ObstacleLeft", new PPDBodyOrientation(false, false, true));
        manager->addParam("ObstacleRight", new PPDBodyPosition(true, true, false));
        manager->addParam("ObstacleRight", new PPDBodyOrientation(false, false, true));
    }
    
    virtual InitStateSetter* createInitStateSetter()
    {
        return new ISSMiniGolf(graph, properties->getPropertyBool("fixedInitState", false));
    }
    
    virtual void initViewer(Rcs::Viewer* viewer)
    {
#ifdef GRAPHICS_AVAILABLE
        // Set the camera center
        double cameraCenter[3];
        cameraCenter[0] = 1.5;
        cameraCenter[1] = 0.5;
        cameraCenter[2] = 0.0;
        
        // Set the camera position
        double cameraLocation[3];
        cameraLocation[0] = -1.5;
        cameraLocation[1] = 4.5;
        cameraLocation[2] = 2.8;
        
        // 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;
        if (simulator != nullptr) {
            simName = simulator->getClassName();
        }
        else {
            simName = "Robot";
        }
        
        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 omLinBall = observationModel->findOffsets<OMBodyStateLinear>(); // finds the first OMBodyStateLinear
        if (omLinBall) {
            linesOut.emplace_back(string_format("ball pos:     [% 1.3f,% 1.3f,% 1.3f] m",
                                                obs->ele[omLinBall.pos],
                                                obs->ele[omLinBall.pos + 1],
                                                obs->ele[omLinBall.pos + 2]));
            linesOut.emplace_back(string_format("club tip pos: [% 1.3f,% 1.3f,% 1.3f] m",
                                                obs->ele[omLinBall.pos + 3],
                                                obs->ele[omLinBall.pos + 4],
                                                obs->ele[omLinBall.pos + 5]));
        }
        
        auto omAng = observationModel->findOffsets<OMBodyStateAngular>();
        if (omAng) {
            linesOut.emplace_back(string_format("club tip ang: [% 1.3f,% 1.3f,% 1.3f] deg",
                                                RCS_RAD2DEG(obs->ele[omAng.pos]),
                                                RCS_RAD2DEG(obs->ele[omAng.pos + 1]),
                                                RCS_RAD2DEG(obs->ele[omAng.pos + 2])));
        }
        
        auto omFT = observationModel->findOffsets<OMForceTorque>();
        if (omFT) {
            linesOut.emplace_back(
                string_format("forces:       [% 3.1f,% 3.1f,% 3.1f] N",
                              obs->ele[omFT.pos], obs->ele[omFT.pos + 1], obs->ele[omFT.pos + 2]));
        }
        
        std::stringstream ss;
        ss << "actions:      [";
        for (unsigned int i = 0; i < currentAction->m - 1; i++) {
            ss << std::fixed << std::setprecision(3) << MatNd_get(currentAction, i, 0) << ", ";
            if (i == 6) {
                ss << "\n               ";
            }
        }
        ss << std::fixed << std::setprecision(3) << MatNd_get(currentAction, currentAction->m - 1, 0) << "]";
        linesOut.emplace_back(string_format(ss.str()));
        
        if (physicsManager != nullptr) {
            // Get the parameters that are not stored in the Rcs graph
            BodyParamInfo* ball_bpi = physicsManager->getBodyInfo("Ball");
            BodyParamInfo* club_bpi = physicsManager->getBodyInfo("Club");
            BodyParamInfo* ground_bpi = physicsManager->getBodyInfo("Ground");
            
            double ballSlip = 0;
            ball_bpi->material.getDouble("slip", ballSlip);
            double groundSlip = 0;
            ground_bpi->material.getDouble("slip", groundSlip);
            
            linesOut.emplace_back(
                string_format("ball mass:             %1.2f kg           club mass: %1.2f kg",
                              ball_bpi->body->m, club_bpi->body->m));
            linesOut.emplace_back(string_format("ball friction:         %1.3f      ground friction: %1.3f",
                                                ball_bpi->material.getFrictionCoefficient(),
                                                ground_bpi->material.getFrictionCoefficient()));
            linesOut.emplace_back(string_format("ball rolling friction: %1.6f         ball slip: %1.5f rad/(Ns)",
                                                ball_bpi->material.getRollingFrictionCoefficient(),
                                                ballSlip));
            linesOut.emplace_back(string_format("ball restitution: %1.3f               ground slip: %1.5f rad/(Ns)",
                                                ball_bpi->material.getRestitution(), groundSlip));
        }
    }
};

// Register
static ExperimentConfigRegistration<ECMiniGolf> RegMiniGolf("MiniGolf");
    
}