Remove gripper from robot and change its dimensions #214

RealOrangeOne · 2020-11-09T21:08:03Z

Fixes #211
Fixes #193

Removing the gripper, making the robot shell slightly deeper and shorter should help with weight distribution.

I also moved the flag over where webots believes the robots actual position to be, which will help in visually seeing when a robot enters a territory.

Also shift around camera and front bump sensor so their locations make sense again

And move objects around to match new size

This will help in working out when it crosses boundaries

Adimote · 2020-11-15T01:56:31Z

I'm getting quite a couple errors when I patch this in:

ERROR: 'C:/Users/abarr/Documents/sr/competition-simulator/competition-simulator/protos/Robot_Echo/SRRobot.proto':5:18: error: PROTO parameter 'controller' has no matching IS field.
ERROR: 'C:/Users/abarr/Documents/sr/competition-simulator/competition-simulator/protos/Robot_Echo/SRRobot.proto':7:18: error: PROTO parameter 'customData' has no matching IS field.

I suspect this is because you've defined 'controller' and 'customData' without using them?

Also I get the following warnings too:

WARNING: SRRobot (PROTO) > DEF bump_sensors Group > TouchSensor: Undefined inertia matrix: using the identity matrix. Please specify 'boundingObject' or 'inertiaMatrix' values.
WARNING: SRRobot (PROTO) > DEF bump_sensors Group > TouchSensor: Undefined inertia matrix: using the identity matrix. Please specify 'boundingObject' or 'inertiaMatrix' values.
WARNING: SRRobot (PROTO) > DEF body_group Transform > DEF BODY Group > DEF front_bar_top Solid: Mass is invalid because 'boundingObject' is not defined. Using default mass properties: mass = 1, inertia matrix = identity
WARNING: SRRobot (PROTO) > DEF body_group Transform > DEF BODY Group > DEF front_bar_top Solid: 'name' field value should be unique: 'solid(6)' already used by a sibling Solid node.
WARNING: SRRobot (PROTO) > DEF body_group Transform > DEF BODY Group > DEF front_bar_bottom Solid: 'name' field value should be unique: 'solid(6)' already used by a sibling Solid node.

Adimote · 2020-11-15T02:01:42Z

Also it seems sr_controller is erroring with:

  File "sr_controller.py", line 256, in <module>
    main()
  File "sr_controller.py", line 232, in main
    robot_zone = get_robot_zone()
  File "sr_controller.py", line 58, in get_robot_zone
    return ROBOT_IDS_TO_CORNERS[os.environ['WEBOTS_ROBOT_ID']]
KeyError: '531'

and robot.py seems to still think there's a lifting motor.

Were we planning on fixing these in a different patch?

PeterJCLaw · 2020-11-15T09:22:38Z

protos/Robot_Echo/SRRobot.proto

-    controller IS controller
-    customData IS customData
-  }
-}
+  controller "sr_controller"
+}
+}


I don't think we want these changes -- it looks like this is what's causing the errors which @Adimote notes in #214 (comment)

RealOrangeOne · 2020-11-15T11:00:00Z

Woops, I forgot to change the API to remove the gripper controls, will fix
Yes the hard-coded IDs will likely change, but that's pretty trivial
I made most of the edits in webots itself, then transplanted them back into the proto file. I guess I need to review which bits changed and revert anything unrelated.

Implementation intentionally left in for future use.

PeterJCLaw · 2020-11-15T12:47:39Z

@RealOrangeOne I'm still seeing the ValueErrors from not having the right ids here.

PeterJCLaw · 2020-11-15T15:49:24Z

Fixes #214

@RealOrangeOne is this right? That's the number of this PR.

Separately, I'm now getting Warning: "token bump sensor" device not found and then a bunch of ValueErrors.

RealOrangeOne · 2020-11-15T15:58:41Z

is this right? That's the number of this PR.

Pesky off-by-21 errors!

token bump sensor

Ah damn, I haven't removed the microswitches from the code which were on the gripper.

PeterJCLaw · 2020-11-15T17:09:50Z

Ah damn, I haven't removed the microswitches from the code which were on the gripper.

This will need a docs update.

PeterJCLaw · 2020-11-15T17:39:03Z

Oh, and the image of the robot in the docs will need updating too.

Adimote · 2020-11-16T01:43:25Z

Hey just writing the microgames, and I just discovered the wheel hitboxes stick out further than the bump switch, (see picture) meaning the bump switch won't necessarily trigger when you touch a wall.

Adimote · 2020-11-16T01:46:55Z

actually now that I look at it closer, the hitbox for the robot body is too far forwards, see picture (the cube cannot get any closer in this picture)

This shouldn't have much impact on balance

RealOrangeOne · 2020-11-16T18:17:21Z

@Adimote interesting find. I think i've fixed the hitbox, but i've also moved the wheels slightly further back (2cm) so they definitely don't stick out, so it's more obvious the switch will hit correctly.

Could you re-test and let me know if it's working correctly.

PeterJCLaw · 2020-11-19T20:48:25Z

There's something weird with the rear caster here -- it seems to drop through the floor in some cases.

The code for that robot has it drive forwards at 50 power, then turn ~90 degrees to its right, then forwards again.

PeterJCLaw · 2020-11-19T20:58:11Z

I'm also seeing a lot of:

WARNING: The current physics step could not be computed correctly. Your world may be too complex. If this problem persists, try simplifying your bounding object(s), reducing the number of joints, or reducing WorldInfo.basicTimeStep.

Not sure if that's this branch or other changes though.

PeterJCLaw · 2020-11-19T21:05:47Z

I'm also seeing a lot of:

WARNING: The current physics step could not be computed correctly. Your world may be too complex. If this problem persists, try simplifying your bounding object(s), reducing the number of joints, or reducing WorldInfo.basicTimeStep.

Not sure if that's this branch or other changes though.

This doesn't reproduce on master. It may be related to the caster-through-floor issue.

RealOrangeOne · 2020-11-19T23:36:28Z

I'll have a look at the changes I made to the caster, i'm hoping there's nothing too difficult.

Reverting all changes to it and simply shunting its Z-axis position might be a viable fix.

I think the `scale` was causing it to clip through the floor

WillB97 · 2020-11-20T16:58:20Z

The caster is not going through the floor, what happens is the caster ends up by the front axle.

It seems like the caster has a strange center of rotation.

PeterJCLaw · 2020-11-20T19:53:25Z

Yup that caster position seems good now.

PeterJCLaw

aside from the uncertainties in the bump sensors (#223) this seems good. let's merge this and roll forwards.

Remove gripper from robot

9874442

Also shift around camera and front bump sensor so their locations make sense again

RealOrangeOne requested review from PeterJCLaw and antoinepetty November 9, 2020 21:08

RealOrangeOne added 2 commits November 14, 2020 11:11

Make robot shorter and deeper

153bed3

And move objects around to match new size

Make flagpole shorter and actually over the centre of the robot

59306fa

This will help in working out when it crosses boundaries

RealOrangeOne changed the title ~~Remove gripper from robot~~ Remove gripper from robot and change its dimensions Nov 14, 2020

PeterJCLaw reviewed Nov 15, 2020

View reviewed changes

RealOrangeOne added 4 commits November 15, 2020 11:02

Fix definition of controller and data

314afee

Fix name conflict for front bars

7b3f8f4

Add correct bounding objects for bump sensors to remove warnings

452e273

Remove access to lift and finger motors

1c957e3

Implementation intentionally left in for future use.

RealOrangeOne requested review from PeterJCLaw and Adimote November 15, 2020 11:22

PeterJCLaw mentioned this pull request Nov 15, 2020

Improve balance of the robot #193

Closed

Update robot IDs

92a1b27

PeterJCLaw added this to the SR2021 Kickstart milestone Nov 15, 2020

Remove reference to gripper microswitches

1ba41de

RealOrangeOne mentioned this pull request Nov 15, 2020

Simulator robot simplify srobo/docs#148

Merged

PeterJCLaw mentioned this pull request Nov 15, 2020

Implement use_brake with torque/force control #212

Closed

Move body bounding box to main body position

ec47131

RealOrangeOne added 2 commits November 16, 2020 18:08

Move wheels 2cm back so front switch can be triggered

d782646

This shouldn't have much impact on balance

move caster wheel further back and correctly align with floor

a2c1f33

Change caster position so it's closer to how it was

650b300

I think the `scale` was causing it to clip through the floor

Fix the caster pivot location

0e4a9fd

PeterJCLaw mentioned this pull request Nov 20, 2020

Ensure the bump sensors work #223

Open

PeterJCLaw approved these changes Nov 20, 2020

View reviewed changes

RealOrangeOne merged commit 7ecd60f into master Nov 20, 2020

RealOrangeOne deleted the robot-simplify branch November 20, 2020 21:16

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Remove gripper from robot and change its dimensions #214

Remove gripper from robot and change its dimensions #214

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Remove gripper from robot and change its dimensions #214

Remove gripper from robot and change its dimensions #214

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