module.cpp

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 Technical University of Darmstadt.
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#include "RcsSimEnv.h"
#include "config/PropertySourceDict.h"
#include "config/PropertySourceXml.h"
#include "control/ControlPolicy.h"
#include "physics/vortex_log.h"
#include "util/BoxSpace.h"
#include "util/type_casters.h"
#include "util/pybind_dict_utils.h"

#include <pybind11/stl.h>

namespace py = pybind11;

#include <Rcs_resourcePath.h>
#include <Rcs_macros.h>
#include <Rcs_MatNd.h>
#include <Rcs_Vec3d.h>
#include <PhysicsFactory.h>

#include <SegFaultHandler.h>
#include <Rcs_typedef.h>

RCS_INSTALL_ERRORHANDLERS

/* Could be done in the future
void define_gui_classes(py::module& m);
 */

PYBIND11_MODULE(_rcsenv, m)
{
    // define exceptions
    py::register_exception<Rcs::JointLimitException>(m, "JointLimitException");
    
    // Define BoxSpace as class. It's not providing a constructor here, it's just meant to be passed to python for information
    py::class_<Rcs::BoxSpace>(m, "BoxSpace")
        .def_property_readonly("min", &Rcs::BoxSpace::getMin, py::return_value_policy::reference_internal)
        .def_property_readonly("max", &Rcs::BoxSpace::getMax, py::return_value_policy::reference_internal)
        .def_property_readonly("names", [](
            const Rcs::BoxSpace& thiz) -> py::object {
            auto& names = thiz.getNames();
            if (names.empty()) {
                return py::none();
            }
            return py::cast(names);
        });
    
    // Define simulator base class
    py::class_<Rcs::RcsSimEnv>(m, "RcsSimEnv")
        .def(py::init([](py::kwargs kwargs) {
               // Get properties from xml or python
               Rcs::PropertySource* config;
               std::string configFileName;
               if (try_get(kwargs, "experimentConfigFile", configFileName)) {
                   config = new Rcs::PropertySourceXml(configFileName.c_str());
               }
               else {
                   config = new Rcs::PropertySourceDict(kwargs);
               }
               // Create config object, takes ownership of property source
               return new Rcs::RcsSimEnv(config);
            })
        )
        .def("step", &Rcs::RcsSimEnv::step, py::arg("action"), py::arg("disturbance") = py::none(),
             py::call_guard<py::gil_scoped_release>())
        .def("reset", [](Rcs::RcsSimEnv& self, py::object domainParam, const MatNd* initState) {
                 Rcs::PropertySource* domainParamSource = Rcs::PropertySource::empty();
                 if (!domainParam.is_none()) {
                     domainParamSource = new Rcs::PropertySourceDict(domainParam);
                 }
                 MatNd* result = self.reset(domainParamSource, initState);
                 if (!domainParam.is_none()) {
                     delete domainParamSource;
                 }
                 return result;
             },
             py::arg("domainParam").none(true) = py::none(), py::arg("initState").none(true) = py::none()
        )
        .def("render", &Rcs::RcsSimEnv::render, py::arg("mode") = "human", py::arg("close") = false)
        .def("toggleVideoRecording", &Rcs::RcsSimEnv::toggleVideoRecording)
        .def("setTransitionNoiseBuffer", &Rcs::RcsSimEnv::setTransitionNoiseBuffer)
        .def("saveConfigXML", [](Rcs::RcsSimEnv& self, const char* fileName) {
            self.getConfig()->properties->saveXML(fileName, "Experiment");
        })
        .def("getBodyPosition",
             [](Rcs::RcsSimEnv& self, const char* bodyName, const char* refBodyName, const char* refFrameName) {
                 const RcsBody* body = RcsGraph_getBodyByName(self.getConfig()->graph, bodyName);
                 RCHECK(body);
                 const RcsBody* refBody = RcsGraph_getBodyByName(self.getConfig()->graph, refBodyName);
                 const RcsBody* refFrame = RcsGraph_getBodyByName(self.getConfig()->graph, refFrameName);
                 double I_r[3];
            
                 // Effector-fixed reference point in world coordinates
                 Vec3d_copy(I_r, body->A_BI->org);
            
                 // Transform to reference frame: ref_r = A_ref-I * (I_r - I_r_refBdy)
                 if (refBody != NULL) {
                     Vec3d_subSelf(I_r, refBody->A_BI->org);     // I_r -= I_r_refBdy
                
                     // refBody and refFrame, but they differ: refFrame_r = A_refFrame-I*I_r
                     if ((refFrame != NULL) && (refFrame != refBody)) {
                         Vec3d_rotateSelf(I_r, refFrame->A_BI->rot);
                     }
                         // refBody and refFrame are the same: refFrame_r = A_refBody-I*I_r
                     else {
                         Vec3d_rotateSelf(I_r, refBody->A_BI->rot);
                     }
                 }
                     // No refBody, but refFrame: Rotate into refFrame coordinates
                 else {
                     // Rotate into refFrame if it exists
                     if (refFrame != NULL) {
                         Vec3d_rotateSelf(I_r, refFrame->A_BI->rot);
                     }
                
                 }
                 MatNd* pos = NULL;
                 pos = MatNd_create(3, 1);
                 for (unsigned int i = 0; i < 3; i++) {
                     MatNd_set(pos, i, 0, I_r[i]);
                 }
                 return pos;
             },
             py::arg("bodyName"), py::arg("refFrameName"), py::arg("refBodyName")
        )
        .def("getBodyExtents", [](Rcs::RcsSimEnv& self, const char* bodyName, const int shapeIdx) {
                 const RcsBody* body = RcsGraph_getBodyByName(self.getConfig()->graph, bodyName);
                 RCHECK(body);
            
                 MatNd* extents = NULL;
                 extents = MatNd_create(3, 1);
                 for (unsigned int i = 0; i < 3; i++) {
                     MatNd_set(extents, i, 0, body->shape[shapeIdx]->extents[i]);
                 }
                 return extents;
             },
             py::arg("bodyName"), py::arg("shapeIdx")
        )
            
        // Properties
        .def_property_readonly("observationSpace", &Rcs::RcsSimEnv::observationSpace)
        .def_property_readonly("actionSpace", &Rcs::RcsSimEnv::actionSpace)
        .def_property_readonly("initStateSpace", &Rcs::RcsSimEnv::initStateSpace)
        .def_property_readonly("domainParam", [](Rcs::RcsSimEnv& self) {
            // Expose the domain parameters to the Python side
            py::dict result;
            Rcs::PropertySourceDict psink(result);
            self.getPhysicsManager()->getValues(&psink);
            return result;
        })
        .def_property_readonly("internalStateDim", &Rcs::RcsSimEnv::getInternalStateDim)
        .def_property_readonly("dt", [](Rcs::RcsSimEnv& self) {
            return self.getConfig()->dt;
        })
        .def_property_readonly("lastAction", &Rcs::RcsSimEnv::getCurrentAction, py::return_value_policy::copy)
        .def_property_readonly("lastObservation", &Rcs::RcsSimEnv::getCurrentObservation,
                               py::return_value_policy::copy);
    
    // Define ControlPolicy for tests
    py::class_<Rcs::ControlPolicy> controlPolicy(m, "ControlPolicy");
    controlPolicy.def(py::init<Rcs::ControlPolicy* (*)(const char*, const char*)>(&Rcs::ControlPolicy::create));
    controlPolicy.def("__call__", [](Rcs::ControlPolicy& self, const MatNd* input, unsigned int output_size) {
        MatNd* output = MatNd_create(output_size, 1);
        self.computeAction(output, input);
        return output;
    });
    controlPolicy.def("reset", &Rcs::ControlPolicy::reset);
    controlPolicy.def_property_readonly_static("types", [](py::handle /* self */) {
        return Rcs::ControlPolicy::getTypeNames();
    });
    
    // Expose the ControlPolicy classes to the Python side
//    py::class_<Rcs::ActionModelIKPolicy>(m, "ActionModelIKPolicy", controlPolicy)
//        .def(py::init(&Rcs::loadMLPPolicyFromXml));
    
/* Could be done in the future
#ifdef GUI_AVAILABLE
    // Define gui stuff if available
    define_gui_classes(m);
#endif
 */

    m.def("saveExperimentParams", [](py::dict& config, const char* filename){
        std::unique_ptr<Rcs::PropertySource> ps(new Rcs::PropertySourceDict(config));
        ps->saveXML(filename, "Experiment");
    }, py::arg("config"), py::arg("filename"));

    // Sets the rcs log level
    m.def("setLogLevel", [](int level) { RcsLogLevel = level; });
    
    // Adds a directory to the resource path
    m.def("addResourcePath", [](const char* path) { return Rcs_addResourcePath(path); });
    
    // Check if physics engine is available (can't list, unfortunately)
    m.def("supportsPhysicsEngine", &Rcs::PhysicsFactory::hasEngine);
    
    // Control vortex log level, setting it to warnings only by default (this avoids log spam)
    Rcs::setVortexLogLevel("warn");
    // Allow changing it if desired
    m.def("setVortexLogLevel", &Rcs::setVortexLogLevel);
}