ECPlanar3Link.cpp

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/*******************************************************************************
 Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
 Technical University of Darmstadt.
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    or Technical University of Darmstadt, nor the names of its contributors may
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    specific prior written permission.

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#include "ExperimentConfig.h"
#include "action/ActionModelIK.h"
#include "action/AMIntegrate1stOrder.h"
#include "action/AMIntegrate2ndOrder.h"
#include "action/AMJointControlPosition.h"
#include "action/AMDynamicalSystemActivation.h"
#include "action/AMIKControllerActivation.h"
#include "initState/ISSPlanar3Link.h"
#include "observation/OMBodyStateLinear.h"
#include "observation/OMCombined.h"
#include "observation/OMJointState.h"
#include "observation/OMPartial.h"
#include "observation/OMDynamicalSystemGoalDistance.h"
#include "observation/OMForceTorque.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/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>
#include <TaskDistance.h>

#ifdef GRAPHICS_AVAILABLE

#include <RcsViewer.h>

#endif

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

namespace Rcs
{

class ECPlanar3Link : public ExperimentConfig
{
    virtual ActionModel* createActionModel()
    {
        std::string actionModelType = "unspecified";
        properties->getProperty(actionModelType, "actionModelType");
        
        // Common for the action models
        RcsBody* effector = RcsGraph_getBodyByName(graph, "Effector");
        RCHECK(effector);
        
        if (actionModelType == "joint_pos") {
            return new AMJointControlPosition(graph);
        }
        
        else if (actionModelType == "joint_vel") {
            double max_action = 90*M_PI/180; // [rad/s]
            return new AMIntegrate1stOrder(new AMJointControlPosition(graph), max_action);
        }
        
        else if (actionModelType == "joint_acc") {
            double max_action = RCS_DEG2RAD(120); // [rad/s^2]
            return new AMIntegrate2ndOrder(new AMJointControlPosition(graph), max_action);
        }
        
        else if (actionModelType == "ik") {
            // Create the action model
            auto amIK = new AMIKGeneric(graph);
            if (properties->getPropertyBool("positionTasks", true)) {
                throw std::invalid_argument("Position tasks are not implemented for AMIKGeneric in this environment.");
            }
            else {
                amIK->addTask(new TaskVelocity1D("Xd", graph, effector, nullptr, nullptr));
                amIK->addTask(new TaskVelocity1D("Zd", graph, effector, nullptr, nullptr));
                return amIK;
            }
        }
        
        else if (actionModelType == "ik_activation") {
            // Get the method how to combine the movement primitives / tasks given their activation (not used in every case)
            std::string taskCombinationMethod = "unspecified";
            properties->getProperty(taskCombinationMethod, "taskCombinationMethod");
            TaskCombinationMethod tcm = AMDynamicalSystemActivation::checkTaskCombinationMethod(taskCombinationMethod);
            
            // 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)) {
                // Define the Rcs controller tasks
                RcsBody* goal1 = RcsGraph_getBodyByName(graph, "Goal1");
                RcsBody* goal2 = RcsGraph_getBodyByName(graph, "Goal2");
                RcsBody* goal3 = RcsGraph_getBodyByName(graph, "Goal3");
                RCHECK(goal1);
                RCHECK(goal2);
                RCHECK(goal3);
                int i = 0;

//                tasks.emplace_back(new TaskDistance(graph, effector, goal1));
//                tasks.emplace_back(new TaskDistance(graph, effector, goal2));
//                tasks.emplace_back(new TaskDistance(graph, effector, goal3));
//                for (auto task : tasks) {
//                    std::stringstream taskName;
//                    taskName << "Distance " << i++ << " [m]";
//                    task->resetParameter(Task::Parameters(0., 1.5, 1.0, taskName.str()));
//                }
                tasks.emplace_back(new TaskPosition3D(graph, effector, goal1, nullptr));
                tasks.emplace_back(new TaskPosition3D(graph, effector, goal2, nullptr));
                tasks.emplace_back(new TaskPosition3D(graph, effector, goal3, nullptr));
                for (auto task : tasks) {
                    std::stringstream taskName;
                    taskName << " Position " << i++ << " [m]";
                    task->resetParameter(
                        Task::Parameters(-0.9, 0.9, 1.0, "X" + taskName.str()));
                    task->addParameter(
                        Task::Parameters(-0.01, 0.01, 1.0, "Y" + taskName.str()));
                    task->addParameter(Task::Parameters(0., 1.4, 1.0, "Z" + taskName.str()));
                }
            }
            else {
                throw std::invalid_argument("Velocity tasks are not supported for AMIKControllerActivation.");
            }
            
            // 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);
            
            // 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") {
            // 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("Z", graph, effector, nullptr, nullptr));
            }
            else {
                innerAM->addTask(new TaskVelocity1D("Xd", graph, effector, nullptr, nullptr));
                innerAM->addTask(new TaskVelocity1D("Zd", graph, effector, nullptr, nullptr));
            }
            
            // Obtain the task data
            auto& taskSpec = properties->getChildList("tasks");
            std::vector<std::unique_ptr<DynamicalSystem>> tasks;
            for (auto ts : taskSpec) {
                // All tasks cover the x and the z coordinate, thus no DSSlice is necessary
                tasks.emplace_back(DynamicalSystem::create(ts, innerAM->getDim()));
            }
            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 (not used in every case)
            std::string taskCombinationMethod = "unspecified";
            properties->getProperty(taskCombinationMethod, "taskCombinationMethod");
            TaskCombinationMethod tcm = AMDynamicalSystemActivation::checkTaskCombinationMethod(taskCombinationMethod);
            
            // Create the action model
            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()
    {
        auto fullState = new OMCombined();
        
        if (properties->getPropertyBool("observeVelocities", true)) {
            // Observe effector position and velocities
            auto omLin = new OMBodyStateLinear(graph, "Effector");  // in world coordinates
            omLin->setMinState(-1.7); // [m]
            omLin->setMaxState(1.7); // [m]
            omLin->setMaxVelocity(5.0); // [m/s]
            fullState->addPart(OMPartial::fromMask(omLin, {true, false, true}));  // mask out y axis
        }
        else {
            auto omLin = new OMBodyStateLinearPositions(graph, "Effector"); // in world coordinates
            omLin->setMinState(-1.7); // [m]
            omLin->setMaxState(1.7); // [m]
            fullState->addPart(OMPartial::fromMask(omLin, {true, false, true}));
        }
        
        // Add force/torque measurements
        if (properties->getPropertyBool("observeForceTorque", true)) {
            RcsSensor* fts = RcsGraph_getSensorByName(graph, "EffectorLoadCell");
            if (fts) {
                auto omForceTorque = new OMForceTorque(graph, fts->name, 500);
                fullState->addPart(OMPartial::fromMask(omForceTorque, {true, false, true, false, false, false}));
            }
        }
        
        // Add current collision cost
        if (properties->getPropertyBool("observeCollisionCost", false) & (collisionMdl != nullptr)) {
            // Add the collision cost observation model
            auto omColl = new OMCollisionCost(collisionMdl);
            fullState->addPart(omColl);
        }
        
        // Add collision prediction
        if (properties->getPropertyBool("observePredictedCollisionCost", false) && collisionMdl != nullptr) {
            // Get horizon from config
            int horizon = 20;
            properties->getChild("collisionConfig")->getProperty(horizon, "predCollHorizon");
            // Add collision model
            auto omCollisionCost = new OMCollisionCostPrediction(graph, collisionMdl, actionModel, 20);
            fullState->addPart(omCollisionCost);
        }
        
        // 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 task space discrepancy observation model
        if (properties->getPropertyBool("observeTaskSpaceDiscrepancy", false)) {
            auto wamIK = actionModel->unwrap<ActionModelIK>();
            if (wamIK) {
                auto omTSDescr = new OMTaskSpaceDiscrepancy("Effector", graph, wamIK->getController()->getGraph());
                fullState->addPart(OMPartial::fromMask(omTSDescr, {true, false, true}));
            }
            else {
                delete fullState;
                throw std::invalid_argument("The action model needs to be of type ActionModelIK!");
            }
        }
        
        std::string actionModelType = "unspecified";
        properties->getProperty(actionModelType, "actionModelType");
        bool haveJointPos = actionModelType == "joint_pos";
        
        if (haveJointPos) {
            fullState->addPart(OMJointState::observeUnconstrainedJoints(graph));
        }
        
        else if (actionModelType == "ds_activation") {
            if (properties->getPropertyBool("observeDynamicalSystemGoalDistance", false)) {
                // Add goal distances
                auto castedAM = actionModel->unwrap<AMDynamicalSystemActivation>();
                if (castedAM) {
                    auto omGoalDist = new OMDynamicalSystemGoalDistance(castedAM);
                    fullState->addPart(omGoalDist);
                }
                else {
                    delete fullState;
                    std::ostringstream os;
                    os << "The action model needs to be of type AMDynamicalSystemActivation but is: " << castedAM;
                    throw std::invalid_argument(os.str());
                }
            }
            
            if (properties->getPropertyBool("observeDynamicalSystemDiscrepancy", false)) {
                // Add the discrepancies between commanded and executed the task space changes
                auto castedAM = dynamic_cast<AMDynamicalSystemActivation*>(actionModel);
                if (castedAM) {
                    auto omDescr = new OMDynamicalSystemDiscrepancy(castedAM);
                    fullState->addPart(omDescr);
                }
                else {
                    delete fullState;
                    std::ostringstream os;
                    os << "The action model needs to be of type AMDynamicalSystemActivation but is: " << castedAM;
                    throw std::invalid_argument(os.str());
                }
            }
        }
        
        return fullState;
    }
    
    virtual void populatePhysicsParameters(PhysicsParameterManager* manager)
    {
        manager->addParam("Link1", new PPDMassProperties());
        manager->addParam("Link2", new PPDMassProperties());
        manager->addParam("Link3", new PPDMassProperties());
    }
    
    virtual InitStateSetter* createInitStateSetter()
    {
        return new ISSPlanar3Link(graph);
    }
    
    virtual ForceDisturber* createForceDisturber()
    {
        RcsBody* link3 = RcsGraph_getBodyByName(graph, "Link3");
        RCHECK(link3);
//        RcsBody* base = RcsGraph_getBodyByName(graph, "Base");
//        RCHECK(base);
//        return new ForceDisturber(link3, base);
        return new ForceDisturber(link3, link3);
    }
    
    virtual void initViewer(Rcs::Viewer* viewer)
    {
#ifdef GRAPHICS_AVAILABLE
        // Set camera next to base
        RcsBody* base = RcsGraph_getBodyByName(graph, "Base");
        double cameraCenter[3];
        Vec3d_copy(cameraCenter, base->A_BI->org);
        cameraCenter[1] -= 0.5;
        cameraCenter[2] += 0.3;
        
        // Set the camera position
        double cameraLocation[3];
        cameraLocation[0] = 0.;
        cameraLocation[1] = 4.;
        cameraLocation[2] = 2.5;
        
        // 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 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 omLin = observationModel->findOffsets<OMBodyStateLinear>();
        auto omLinPos = observationModel->findOffsets<OMBodyStateLinearPositions>();
        if (omLin) {
            linesOut.emplace_back(
                string_format("end-eff pos:   [% 1.3f,% 1.3f] m  end-eff vel:   [% 1.2f,% 1.2f] m/s",
                              obs->ele[omLin.pos], obs->ele[omLin.pos + 1],
                              obs->ele[sd + omLin.vel], obs->ele[sd + omLin.vel + 1]));
        }
        else if (omLinPos) {
            linesOut.emplace_back(
                string_format("end-eff pos:   [% 1.3f,% 1.3f] m",
                              obs->ele[omLinPos.pos], obs->ele[omLinPos.pos + 1]));
        }
        
        auto omGD = observationModel->findOffsets<OMDynamicalSystemGoalDistance>();
        if (omGD) {
            linesOut.emplace_back(
                string_format("goal dist pos: [% 1.3f,% 1.3f,% 1.3f] m",
                              obs->ele[omGD.pos + 0], obs->ele[omGD.pos + 1], obs->ele[omGD.pos + 2]));
        }
        
        auto omFT = observationModel->findOffsets<OMForceTorque>();
        if (omFT) {
            linesOut.emplace_back(
                string_format("forces:        [% 3.1f,% 3.1f] N", obs->ele[omFT.pos + 0], obs->ele[omFT.pos + 1]));
        }
        
        if (forceDisturber) {
            const double* distForce = forceDisturber->getLastForce();
            linesOut.emplace_back(
                string_format("disturbances:  [% 3.1f,% 3.1f,% 3.1f] N", distForce[0], distForce[1], distForce[2]));
        }
        
        linesOut.emplace_back(
            string_format("actions:       [% 1.3f,% 1.3f,% 1.3f]",
                          currentAction->ele[0], currentAction->ele[1], currentAction->ele[2]));
        
        if (physicsManager != nullptr) {
            // Get the parameters that are not stored in the Rcs graph
            BodyParamInfo* link1_bpi = physicsManager->getBodyInfo("Link1");
            BodyParamInfo* link2_bpi = physicsManager->getBodyInfo("Link2");
            BodyParamInfo* link3_bpi = physicsManager->getBodyInfo("Link3");
            
            linesOut.emplace_back(
                string_format("link masses:   [% 1.3f,% 1.3f,% 1.3f] kg", link1_bpi->body->m, link2_bpi->body->m,
                              link3_bpi->body->m));
        }
        
        auto omManip = observationModel->findOffsets<OMManipulabilityIndex>();
        if (omManip) {
            linesOut.emplace_back(string_format("manipulability: % 5.3f", obs->ele[omManip.pos + 0]));
        }
    }
};

// Register
static ExperimentConfigRegistration<ECPlanar3Link> RegPlanar3Link("Planar3Link");

}