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srobo / competition-simulator

A simulator for Student Robotics Virtual Competitions
https://studentrobotics.org/docs/simulator/
MIT License
8 stars 2 forks source link

Tokens stick to robots #370

Closed WillB97 closed 1 year ago

WillB97 commented 1 year ago

A team has reported that the tokens are sticking to the robot. https://discord.com/channels/1026134973205463070/1026212782477148211/1067486566584426516

Adimote commented 1 year ago

I can reproduce this quite often (about 1 in 3 times) with the gold token:

https://user-images.githubusercontent.com/2551763/216829133-67075885-1637-48f4-9207-0dcdb885a32a.mp4

Once it's stuck its really hard to unstick, so I'd mark this pretty high priority.

Likely this is caused by the markers on the tokens having weird collisions. Fix is likely to disable collisions for the faces

PeterJCLaw commented 1 year ago

Fix is likely to disable collisions for the faces

Presumably you mean the markers?

Yeah, the markers are separate entities which are just slightly sticking out from the tokens. If we can turn off their physics while still having them being recognition objects that sounds like a good fix.

Adimote commented 1 year ago

Confirmed that the markers are the problem, removing them makes the physics a lot more robust:

https://user-images.githubusercontent.com/2551763/216830204-e7f8a6bd-bc55-4f42-b1b9-f5663c45d82b.mp4

I tried disabling collisions by setting enableBoundingObject FALSE in the marker solids but it didn't seem to have an effect.

Adimote commented 1 year ago

I've now also tried just setting physics NULL for the in TokenMarker.proto, even though there's a comment saying it works fine with it set to null, it actually doesnt. The cubes seem to freeze in space as if the markers aren't allowed to move.

Adimote commented 1 year ago

One thing to try tomorrow: Someone mentioned that we could clear the bounding boxes for the markers, but keep the boxes just for their appearance

Adimote commented 1 year ago

https://user-images.githubusercontent.com/2551763/219881901-5f2da4ef-4e0e-41b5-8ff3-6073f7c65608.mp4

some very weird behavior if I don't define the bounding boxes for the markers

Adimote commented 1 year ago

If I remove both physics and bounding boxes, the boxes behave correctly!

However the camera detections seem way off.

With bounding boxes & physics: image

Without bounding boxes & physics: image

Initial observations is it seems the centres of the boxes are still correct, but their size is larger than expected, it seems to not detect markers at as extreme angles

PeterJCLaw commented 1 year ago

We have not managed to fix this.