test_mjcf_pick.cpp

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/* test_mjcf_pick.cpp
 * Kinova GEN3 (MJCF) + Robotiq 2F-85: scripted pick-and-place of an orange cube.
 *
 * Tests:
 *   1. KDL chain has 7 joints.
 *   2. IK converges for pre-grasp, grasp, and lift waypoints (pos error < 2 mm each).
 *   3. Full pick sequence lifts the cube above 0.20 m. */
 
#include "mj_kdl_wrapper/mj_kdl_wrapper.hpp"
#include "example_paths.hpp"
 
#include <gtest/gtest.h>
 
#include <kdl/chaindynparam.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainiksolverpos_nr_jl.hpp>
#include <kdl/chainiksolvervel_pinv.hpp>
#include <kdl/chainiksolvervel_wdls.hpp>
 
#include <algorithm>
#include <cmath>
#include <filesystem>
#include <memory>
#include <string>
#include <vector>
 
namespace fs = std::filesystem;
 
static constexpr double kHomePose[7] = { 0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708 };
static constexpr double kCubeX       = 0.4;
static constexpr double kCubeY       = 0.0;
static constexpr double kCubeHS      = 0.02; // cube half-size [m]
static constexpr double kCubeZ       = kCubeHS;
static constexpr double kIkTol       = 2e-3;
 
static constexpr double kKp[7] = { 100, 200, 100, 200, 100, 200, 100 };
static constexpr double kKd[7] = { 10, 20, 10, 20, 10, 20, 10 };
 
static double clamp01(double v) { return std::max(0.0, std::min(1.0, v)); }
 
static void lerp_q(const KDL::JntArray &a, const KDL::JntArray &b, double t, KDL::JntArray &out)
{
    for (unsigned i = 0; i < a.rows(); ++i) out(i) = a(i) + t * (b(i) - a(i));
}
 
static double max_abs_joint_delta(const KDL::JntArray &a, const KDL::JntArray &b)
{
    double max_delta = 0.0;
    for (unsigned i = 0; i < a.rows(); ++i) max_delta = std::max(max_delta, std::abs(a(i) - b(i)));
    return max_delta;
}
 
static bool solve_near_seed(
  KDL::ChainIkSolverVel_wdls      &ik_vel,
  KDL::ChainFkSolverPos_recursive &fk,
  const KDL::JntArray             &seed,
  const KDL::Frame                &target,
  const std::vector<bool>         &joint_limited,
  const KDL::JntArray             &q_min,
  const KDL::JntArray             &q_max,
  KDL::JntArray                   &out
)
{
    out = seed;
    KDL::JntArray dq(out.rows());
    for (int iter = 0; iter < 300; ++iter) {
        KDL::Frame fk_out;
        fk.JntToCart(out, fk_out);
        KDL::Twist dx = KDL::diff(fk_out, target);
        if (dx.vel.Norm() <= kIkTol && dx.rot.Norm() <= 2e-2) return true;
 
        double vel_norm = dx.vel.Norm();
        if (vel_norm > 0.05) dx.vel = dx.vel * (0.05 / vel_norm);
        double rot_norm = dx.rot.Norm();
        if (rot_norm > 0.20) dx.rot = dx.rot * (0.20 / rot_norm);
 
        if (ik_vel.CartToJnt(out, dx, dq) < 0) return false;
        for (unsigned i = 0; i < out.rows(); ++i) {
            out(i) += dq(i);
            if (joint_limited[i]) out(i) = std::max(q_min(i), std::min(q_max(i), out(i)));
        }
    }
 
    KDL::Frame fk_out;
    fk.JntToCart(out, fk_out);
    KDL::Twist dx = KDL::diff(fk_out, target);
    return dx.vel.Norm() <= kIkTol && dx.rot.Norm() <= 2e-2;
}
 
static void
  impedance_ctrl(mj_kdl::Robot &s, const KDL::JntArray &q_des, unsigned n, KDL::ChainDynParam &dyn)
{
    KDL::JntArray q(n), g(n);
    for (unsigned i = 0; i < n; ++i) q(i) = s.jnt_pos_msr[i];
    dyn.JntToGravity(q, g);
    for (unsigned i = 0; i < n; ++i) {
        s.jnt_trq_cmd[i] =
          g(i) + kKp[i] * (q_des(i) - s.jnt_pos_msr[i]) - kKd[i] * s.jnt_vel_msr[i];
    }
}
 
class MjcfPickTest : public testing::Test
{
  protected:
    fs::path root_;
    mjModel *model_ = nullptr;
    mjData  *data_  = nullptr;
 
    mj_kdl::Robot s_;
    int           fingers_act_ = -1;
    int           cube_jnt_    = -1;
    unsigned      n_           = 0;
 
    std::unique_ptr<KDL::ChainFkSolverPos_recursive> fk_;
    std::unique_ptr<KDL::ChainDynParam>              dyn_;
    std::unique_ptr<KDL::ChainIkSolverVel_wdls>      ik_vel_;
 
    KDL::JntArray q_home_, q_pregrasp_, q_grasp_, q_lift_;
 
    void SetUp() override
    {
        const std::string arm_mjcf =
          mj_kdl_examples::find_menagerie_model("kinova_gen3/gen3.xml");
        const std::string grp_mjcf =
          mj_kdl_examples::find_asset("robotiq_2f85/2f85.xml");
        if (!fs::exists(arm_mjcf)) {
            GTEST_SKIP() << arm_mjcf << " not found";
            return;
        }
        if (!fs::exists(grp_mjcf)) {
            GTEST_SKIP() << grp_mjcf << " not found";
            return;
        }
 
        mj_kdl::AttachmentSpec gs{
            .mjcf_path          = grp_mjcf.c_str(),
            .attach_to          = { mj_kdl::AttachKind::Site, "pinch_site" },
            .prefix             = "g_",
            .contact_exclusions = {},
        };
        mj_kdl::RobotSpec rs;
        rs.path = arm_mjcf.c_str();
        rs.attachments.push_back(gs);
 
        mj_kdl::SceneObject cube{
          .name      = "cube",
          .mjcf_path = "",
          .shape     = mj_kdl::Shape::BOX,
          .size      = { kCubeHS, kCubeHS, kCubeHS },
          .pos       = { kCubeX, kCubeY, kCubeZ },
          .rgba      = { 1.0f, 0.5f, 0.0f, 1.0f },
          .mass      = 0.1,
          .condim    = mj_kdl::Condim::Torsional,
          .friction  = { 0.8, 0.02, 0.001 },
        };
 
        mj_kdl::SceneSpec sc;
    sc.timestep   = 0.002;
    sc.add_floor  = true;
    sc.add_skybox = true;
        sc.robots.push_back(rs);
        sc.objects.push_back(cube);
 
        ASSERT_TRUE(mj_kdl::build_scene(&model_, &data_, &sc));
        const mj_kdl::ToolFrameSpec tool{ .tool_body = "g_base", .tcp_site = "g_pinch" };
        ASSERT_TRUE(
          mj_kdl::init_robot_from_mjcf(&s_, model_, data_, "base_link", "bracelet_link", "", &tool)
        );
 
        n_ = s_.chain.getNrOfJoints();
        ASSERT_EQ(n_, 7u);
 
        fingers_act_ = mj_name2id(model_, mjOBJ_ACTUATOR, "g_fingers_actuator");
        ASSERT_GE(fingers_act_, 0) << "g_fingers_actuator not found";
        cube_jnt_ = mj_name2id(model_, mjOBJ_JOINT, "cube_joint");
        ASSERT_GE(cube_jnt_, 0) << "cube_joint not found";
        ASSERT_GE(mj_name2id(model_, mjOBJ_SITE, "g_pinch"), 0) << "g_pinch site not found";
 
        // IK setup.
        KDL::JntArray     q_min(n_), q_max(n_);
        std::vector<bool> joint_limited(n_, false);
        for (unsigned i = 0; i < n_; ++i) {
            int jid = model_->dof_jntid[s_.kdl_to_mj_dof[i]];
            if (model_->jnt_limited[jid]) {
                joint_limited[i] = true;
                q_min(i)         = model_->jnt_range[2 * jid];
                q_max(i)         = model_->jnt_range[2 * jid + 1];
            } else {
                q_min(i) = -2 * M_PI;
                q_max(i) = 2 * M_PI;
            }
        }
        fk_     = std::make_unique<KDL::ChainFkSolverPos_recursive>(s_.chain);
        dyn_    = std::make_unique<KDL::ChainDynParam>(s_.chain, KDL::Vector(0, 0, -9.81));
        ik_vel_ = std::make_unique<KDL::ChainIkSolverVel_wdls>(s_.chain, 1e-5, 150);
        ik_vel_->setLambda(0.05);
 
        q_home_.resize(n_);
        for (unsigned i = 0; i < n_; ++i) q_home_(i) = kHomePose[i];
 
        const double        kGraspZ    = kCubeZ;
        const double        kPreGraspZ = kGraspZ + 0.20;
        const double        kLiftZ     = kGraspZ + 0.30;
        const KDL::Rotation kGraspRot  = s_.tip_T_tcp.M;
 
        q_pregrasp_.resize(n_);
        q_grasp_.resize(n_);
        q_lift_.resize(n_);
 
        struct WP
        {
            double               z;
            KDL::JntArray       *out;
            const KDL::JntArray *seed;
        };
        WP wps[] = {
            { kPreGraspZ, &q_pregrasp_, &q_home_ },
            { kGraspZ, &q_grasp_, &q_pregrasp_ },
            { kLiftZ, &q_lift_, &q_grasp_ },
        };
        for (auto &wp : wps) {
            KDL::Frame target(kGraspRot, KDL::Vector(kCubeX, kCubeY, wp.z));
            ASSERT_TRUE(solve_near_seed(
              *ik_vel_, *fk_, *wp.seed, target, joint_limited, q_min, q_max, *wp.out
            )) << "IK failed for z="
               << wp.z;
        }
    }
 
    void TearDown() override
    {
        if (model_) {
            mj_kdl::cleanup(&s_);
            mj_kdl::destroy_scene(model_, data_);
        }
    }
 
    // Reset arm to home and cube to initial position.
    void reset_scene()
    {
        mj_resetData(model_, data_);
        mj_kdl::set_joint_pos(&s_, q_home_, false);
        int qadr              = model_->jnt_qposadr[cube_jnt_];
        data_->qpos[qadr]     = kCubeX;
        data_->qpos[qadr + 1] = kCubeY;
        data_->qpos[qadr + 2] = kCubeZ;
        data_->qpos[qadr + 3] = 1.0;
        data_->qpos[qadr + 4] = data_->qpos[qadr + 5] = data_->qpos[qadr + 6] = 0.0;
        mj_forward(model_, data_);
        s_.ctrl_mode = mj_kdl::CtrlMode::TORQUE;
        for (unsigned i = 0; i < n_; ++i) {
            s_.jnt_pos_cmd[i]                        = data_->qpos[s_.kdl_to_mj_qpos[i]];
            s_.jnt_trq_cmd[i]                        = 0.0;
            data_->qfrc_applied[s_.kdl_to_mj_dof[i]] = 0.0;
        }
        mj_kdl::update(&s_);
        data_->ctrl[fingers_act_] = 0.0;
    }
 
    /*
     * Run an impedance trajectory from q_enter to q_target over duration seconds.
     * Returns when duration elapses or settle_tol is met (negative = skip pose check).
     */
    void run_phase(
      const KDL::JntArray &q_enter,
      const KDL::JntArray &q_target,
      double               duration,
      double               timeout,
      double               settle_tol,
      double               gripper_cmd
    )
    {
        double        t_enter = data_->time;
        KDL::JntArray q_des(n_);
 
        while (true) {
            mj_kdl::update(&s_); // read current sensors
            double alpha = clamp01((data_->time - t_enter) / duration);
            lerp_q(q_enter, q_target, alpha, q_des);
            impedance_ctrl(s_, q_des, n_, *dyn_); // writes jnt_trq_cmd
            data_->ctrl[fingers_act_] = gripper_cmd;
            mj_kdl::update(&s_); // apply current command through the wrapper
            mj_kdl::step(&s_);
 
            double t_rel     = data_->time - t_enter;
            bool   done_time = t_rel >= duration;
            bool   done_pose = (settle_tol < 0.0);
            if (!done_pose) {
                double max_err = 0.0;
                for (unsigned i = 0; i < n_; ++i)
                    max_err = std::max(max_err, std::abs(q_target(i) - s_.jnt_pos_msr[i]));
                done_pose = (max_err <= settle_tol);
            }
            if ((done_time && done_pose) || t_rel >= timeout) break;
        }
    }
};
 
TEST_F(MjcfPickTest, KDLChain)
{
    EXPECT_EQ(n_, 7u);
 
    mj_kdl::Robot wrist;
    const mj_kdl::ToolFrameSpec wrist_tool{ .tool_body = "g_base" };
    ASSERT_TRUE(
      mj_kdl::init_robot_from_mjcf(
        &wrist, model_, data_, "base_link", "bracelet_link", "", &wrist_tool
      )
    );
    EXPECT_EQ(wrist.chain.getNrOfJoints(), s_.chain.getNrOfJoints());
 
    KDL::ChainFkSolverPos_recursive wrist_fk(wrist.chain);
    KDL::Frame                      wrist_frame, tcp_frame;
    ASSERT_GE(wrist_fk.JntToCart(q_home_, wrist_frame), 0);
    ASSERT_GE(fk_->JntToCart(q_home_, tcp_frame), 0);
    EXPECT_GT((tcp_frame.p - wrist_frame.p).Norm(), 0.05);
    mj_kdl::cleanup(&wrist);
}
 
TEST_F(MjcfPickTest, IKConvergence)
{
    const KDL::Rotation kGraspRot = s_.tip_T_tcp.M;
 
    const double kGraspZ    = kCubeZ;
    const double kPreGraspZ = kGraspZ + 0.20;
    const double kLiftZ     = kGraspZ + 0.30;
 
    struct WP
    {
        const char          *label;
        double               z;
        const KDL::JntArray *q;
        const KDL::JntArray *seed;
    };
    WP wps[] = {
        { "pre-grasp", kPreGraspZ, &q_pregrasp_, &q_home_ },
        { "grasp", kGraspZ, &q_grasp_, &q_pregrasp_ },
        { "lift", kLiftZ, &q_lift_, &q_grasp_ },
    };
    for (auto &wp : wps) {
        KDL::Frame tgt(kGraspRot, KDL::Vector(kCubeX, kCubeY, wp.z));
        KDL::Frame fk_out;
        fk_->JntToCart(*wp.q, fk_out);
        double pos_err     = (tgt.p - fk_out.p).Norm();
        double joint_delta = max_abs_joint_delta(*wp.seed, *wp.q);
        EXPECT_LE(pos_err, kIkTol) << wp.label << " IK error " << pos_err * 1000.0 << " mm";
        EXPECT_LT(joint_delta, 4.0) << wp.label << " IK jumped to a distant joint branch";
    }
}
 
TEST_F(MjcfPickTest, CubeLifted)
{
    reset_scene(); // sets ctrl_mode = TORQUE
 
    KDL::JntArray q_enter(n_);
 
    auto snap = [&]() {
        for (unsigned i = 0; i < n_; ++i) q_enter(i) = s_.jnt_pos_msr[i];
    };
 
    snap();
    run_phase(q_enter, q_home_, 1.0, 2.5, 0.08, 0.0); // HOME
    snap();
    run_phase(q_enter, q_pregrasp_, 5.0, 7.0, 0.08, 0.0); // PREGRASP
    snap();
    run_phase(q_enter, q_grasp_, 5.0, 8.0, 0.03, 0.0); // GRASP
    snap();
    run_phase(q_enter, q_grasp_, 1.5, 2.5, -1.0, 0.8); // CLOSE
    snap();
    run_phase(q_enter, q_lift_, 3.0, 5.0, 0.08, 0.8); // LIFT
    run_phase(q_lift_, q_lift_, 1.0, 1.0, -1.0, 0.8); // HOLD
 
    int    qadr   = model_->jnt_qposadr[cube_jnt_];
    double cube_z = data_->qpos[qadr + 2];
    EXPECT_GT(cube_z, 0.20) << "cube was not lifted (z=" << cube_z << " m)";
}
 
int main(int argc, char *argv[])
{
    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}