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Add light weight suction gripper with updated multicopter velocity controller #196

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Jul 29, 2022
Merged

Add light weight suction gripper with updated multicopter velocity controller #196

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5 changes: 5 additions & 0 deletions mbzirc_ign/models/mbzirc_hexrotor/model.sdf.erb
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@ end

$attitude_gain = '4 4 2'
$motor_constant = '1.269e-05'
$thrust_with_payload_mass = '0'
if defined?($gripper_model)
if $gripper_model.include?('mbzirc_oberon7_gripper')
$attitude_gain = '25 25 2'
Expand All @@ -19,6 +20,9 @@ if defined?($gripper_model)
$attitude_gain = '25 25 2'
$motor_constant = '1.40e-05'
end
if $gripper_model.include?('_light')
$thrust_with_payload_mass = '1'
end
end

$slot0_payload = nil
Expand Down Expand Up @@ -435,6 +439,7 @@ end
<direction>-1</direction>
</rotor>
</rotorConfiguration>
<thrustWithPayloadMass><%= $thrust_with_payload_mass %></thrustWithPayloadMass>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
Expand Down
5 changes: 5 additions & 0 deletions mbzirc_ign/models/mbzirc_quadrotor/model.sdf.erb
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@ end

$attitude_gain = '2 3 0.15'
$motor_constant = '8.54858e-06'
$thrust_with_payload_mass = '0'
if defined?($gripper_model)
if $gripper_model.include?('mbzirc_oberon7_gripper')
$attitude_gain = '10 10 0.15'
Expand All @@ -19,6 +20,9 @@ if defined?($gripper_model)
$attitude_gain = '10 10 0.15'
$motor_constant = '2.52e-05'
end
if $gripper_model.include?('_light')
$thrust_with_payload_mass = '1'
end
end

$slot0_payload = nil
Expand Down Expand Up @@ -377,6 +381,7 @@ end
<direction>-1</direction>
</rotor>
</rotorConfiguration>
<thrustWithPayloadMass><%= $thrust_with_payload_mass %></thrustWithPayloadMass>
</plugin>
<!-- Battery plugin -->
<!-- Since we are interested in using time as the limiting factor -->
Expand Down
11 changes: 11 additions & 0 deletions mbzirc_ign/models/mbzirc_suction_gripper_light/model.config
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@@ -0,0 +1,11 @@
<?xml version="1.0"?>

<model>
<name>MBZIRC Suction Gripper Light</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>

<description>
Lightweight version of the suction gripper for MBZIRC
</description>
</model>
234 changes: 234 additions & 0 deletions mbzirc_ign/models/mbzirc_suction_gripper_light/model.sdf.erb
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@@ -0,0 +1,234 @@
<%
if !defined?(topic_prefix) || topic_prefix == nil || topic_prefix.empty?
$topic_prefix = ''
else
$topic_prefix = topic_prefix
end
%>

<?xml version="1.0" ?>
<sdf version='1.9'>
<model name="suction_gripper">
<link name='end_effector'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.00166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00166667</iyy>
<iyz>0</iyz>
<izz>0.00166667</izz>
</inertia>
</inertial>
<collision name='end_effector_collision'>
<pose>0.025 0 0 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.05</length>
</cylinder>
</geometry>
</collision>
<visual name='end_effector_visual'>
<pose>0.025 0 0 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<diffuse>0.05 0.15 0.05</diffuse>
<specular>0.8 0.8 0.8</specular>
</material>
</visual>
</link>
<link name='suction'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.00166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00166667</iyy>
<iyz>0</iyz>
<izz>0.00166667</izz>
</inertia>
</inertial>

<collision name='suction_collision_11'>
<pose>0.0505 0 0 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.01</length>
</cylinder>
</geometry>
</collision>
<visual name='suction_visual_11'>
<pose>0.0505 0 0 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<diffuse>0.02 0.02 0.02</diffuse>
<specular>0.3 0.3 0.3</specular>
</material>
</visual>
<sensor name='sensor_contact_11' type='contact'>
<contact>
<collision>suction_collision_11</collision>
<topic><%= $topic_prefix %>/gripper/contact_sensor_11</topic>
</contact>
<always_on>1</always_on>
<update_rate>100</update_rate>
</sensor>

<collision name='suction_collision_10'>
<pose>0.0505 0 -0.04 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.01</length>
</cylinder>
</geometry>
</collision>
<visual name='suction_visual_10'>
<pose>0.0505 0 -0.04 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<diffuse>0.02 0.02 0.02</diffuse>
<specular>0.3 0.3 0.3</specular>
</material>
</visual>
<sensor name='sensor_contact_10' type='contact'>
<contact>
<collision>suction_collision_10</collision>
<topic><%= $topic_prefix %>/gripper/contact_sensor_10</topic>
</contact>
<always_on>1</always_on>
<update_rate>100</update_rate>
</sensor>

<collision name='suction_collision_12'>
<pose>0.0505 0 0.04 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.01</length>
</cylinder>
</geometry>
</collision>
<visual name='suction_visual_12'>
<pose>0.0505 0 0.04 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<diffuse>0.02 0.02 0.02</diffuse>
<specular>0.3 0.3 0.3</specular>
</material>
</visual>
<sensor name='sensor_contact_12' type='contact'>
<contact>
<collision>suction_collision_12</collision>
<topic><%= $topic_prefix %>/gripper/contact_sensor_12</topic>
</contact>
<always_on>1</always_on>
<update_rate>100</update_rate>
</sensor>

<collision name='suction_collision_01'>
<pose>0.0505 -0.04 0 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.01</length>
</cylinder>
</geometry>
</collision>
<visual name='suction_visual_01'>
<pose>0.0505 -0.04 0 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<diffuse>0.02 0.02 0.02</diffuse>
<specular>0.3 0.3 0.3</specular>
</material>
</visual>
<sensor name='sensor_contact_01' type='contact'>
<contact>
<collision>suction_collision_01</collision>
<topic><%= $topic_prefix %>/gripper/contact_sensor_01</topic>
</contact>
<always_on>1</always_on>
<update_rate>100</update_rate>
</sensor>

<collision name='suction_collision_21'>
<pose>0.0505 0.04 0 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.01</length>
</cylinder>
</geometry>
</collision>
<visual name='suction_visual_21'>
<pose>0.0505 0.04 0 0 1.57079 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.01</length>
</cylinder>
</geometry>
<material>
<diffuse>0.02 0.02 0.02</diffuse>
<specular>0.3 0.3 0.3</specular>
</material>
</visual>
<sensor name='sensor_contact_21' type='contact'>
<contact>
<collision>suction_collision_21</collision>
<topic><%= $topic_prefix %>/gripper/contact_sensor_21</topic>
</contact>
<always_on>1</always_on>
<update_rate>100</update_rate>
</sensor>

</link>

<joint name='suction_joint' type='fixed'>
<parent>end_effector</parent>
<child>suction</child>
</joint>

<!-- Controller -->
<plugin
filename="libSuctionGripper.so"
name="mbzirc::SuctionGripperPlugin">
<parent_link>suction</parent_link>
<contact_sensor_topic_prefix><%= $topic_prefix %>/gripper</contact_sensor_topic_prefix>
<command_topic><%= $topic_prefix %>/gripper/suction_on</command_topic>
</plugin>

<frame name="mount_point"/>

</model>
</sdf>
7 changes: 4 additions & 3 deletions mbzirc_ign/src/mbzirc_ign/model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,8 @@

GRIPPERS = [
'mbzirc_oberon7_gripper',
'mbzirc_suction_gripper'
'mbzirc_suction_gripper',
'mbzirc_suction_gripper_light',
]

WAVEFIELD_SIZE = {'simple_demo': 1000, 'coast': 6000}
Expand Down Expand Up @@ -159,7 +160,7 @@ def bridges(self, world_name):
if self.has_valid_gripper():
isAttachedToArm = self.is_USV()
# gripper joint pos cmd
if self.gripper == 'mbzirc_oberon7_gripper':
if 'mbzirc_oberon7_gripper' in self.gripper:
# gripper_joint states
bridges.append(
mbzirc_ign.bridges.gripper_joint_states(world_name, self.model_name,
Expand All @@ -175,7 +176,7 @@ def bridges(self, world_name):
mbzirc_ign.bridges.gripper_joint_force_torque(
self.model_name, joint, isAttachedToArm)
)
elif self.gripper == 'mbzirc_suction_gripper':
elif 'mbzirc_suction_gripper' in self.gripper:
bridges.append(
mbzirc_ign.bridges.gripper_suction_control(self.model_name, isAttachedToArm)
)
Expand Down
7 changes: 4 additions & 3 deletions mbzirc_ign/src/multicopter_control/LeeVelocityController.cc
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Expand Up @@ -86,7 +86,7 @@ bool LeeVelocityController::InitializeParameters()

//////////////////////////////////////////////////
void LeeVelocityController::CalculateRotorVelocities(
const FrameData &_frameData, const EigenTwist &_cmdVel,
const FrameData &_frameData, double _payloadMass, const EigenTwist &_cmdVel,
Eigen::VectorXd &_rotorVelocities) const
{
Eigen::Vector3d acceleration =
Expand All @@ -96,8 +96,9 @@ void LeeVelocityController::CalculateRotorVelocities(
this->ComputeDesiredAngularAcc(_frameData, _cmdVel, acceleration);

// Project thrust onto body z axis.
double thrust = -this->vehicleParameters.mass *
acceleration.dot(_frameData.pose.linear().col(2));
double massWithPayload = this->vehicleParameters.mass + _payloadMass;
double thrust = -massWithPayload *
acceleration.dot(_frameData.pose.linear().col(2));

Eigen::Vector4d angularAccelerationThrust;
angularAccelerationThrust.block<3, 1>(0, 0) = angularAcceleration;
Expand Down
2 changes: 2 additions & 0 deletions mbzirc_ign/src/multicopter_control/LeeVelocityController.hh
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Expand Up @@ -64,10 +64,12 @@ namespace multicopter_control
/// commanded velocity
/// \param[in] _frameData Frame data including pose and linear and angular
/// velocities
/// \param[in] _payloadMass Mass of payload
/// \param[in] _cmdVel Commanded velocity
/// \param[out] _rotorVelocities Computed rotor velocities.
public: void CalculateRotorVelocities(
const FrameData &_frameData,
double _payloadMass,
const EigenTwist &_cmdVel,
Eigen::VectorXd &_rotorVelocities) const;

Expand Down
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