From 7998f637304ee29924300c36ff8090052ebe22eb Mon Sep 17 00:00:00 2001 From: Hongzhuo Liang Date: Fri, 23 Oct 2020 11:33:18 +0200 Subject: [PATCH 1/3] Update bubbleRobTutorial.htm should be rotation tab --- en/bubbleRobTutorial.htm | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/en/bubbleRobTutorial.htm b/en/bubbleRobTutorial.htm index 79b69bb8..73a00f52 100644 --- a/en/bubbleRobTutorial.htm +++ b/en/bubbleRobTutorial.htm @@ -33,7 +33,7 @@

BubbleRob tutorial

Now we open the position dialog on the translation tab, select the sphere representing BubbleRob's body, and enter 0.02 for Along Z. We make sure that the Relative to-item is set to World. Then we click Translate selection. This translates all selected objects by 2 cm along the absolute Z-axis, and effectively lifted our sphere a little bit. In the scene hierarchy, we double-click the sphere's name, so that we can edit its name. We enter bubbleRob and press enter.

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Next we will add a proximity sensor so that BubbleRob knows when it is approaching obstacles: we select [Menu bar --> Add --> Proximity sensor --> Cone type]. In the orientation dialog on the orientation tab, we enter 90 for Around Y and for Around Z, then click Rotate selection. In the position dialog, on the position tab, we enter 0.1 for X-coord. and 0.12 for Z-coord. The proximity sensor is now correctly positioned relative to BubbleRob's body. We double-click the proximity sensor's icon in the scene hierarchy to open its properties dialog. We click Show volume parameter to open the proximity sensor volume dialog. We adjust items Offset to 0.005, Angle to 30 and Range to 0.15. Then, in the proximity sensor properties, we click Show detection parameters. This opens the proximity sensor detection parameter dialog. We uncheck item Don't allow detections if distance smaller than then close that dialog again. In the scene hierarchy, we double-click the proximity sensor's name, so that we can edit its name. We enter bubbleRob_sensingNose and press enter.
+

Next we will add a proximity sensor so that BubbleRob knows when it is approaching obstacles: we select [Menu bar --> Add --> Proximity sensor --> Cone type]. In the orientation dialog on the Rotation tab, we enter 90 for Around Y and for Around Z, then click Rotate selection. In the position dialog, on the position tab, we enter 0.1 for X-coord. and 0.12 for Z-coord. The proximity sensor is now correctly positioned relative to BubbleRob's body. We double-click the proximity sensor's icon in the scene hierarchy to open its properties dialog. We click Show volume parameter to open the proximity sensor volume dialog. We adjust items Offset to 0.005, Angle to 30 and Range to 0.15. Then, in the proximity sensor properties, we click Show detection parameters. This opens the proximity sensor detection parameter dialog. We uncheck item Don't allow detections if distance smaller than then close that dialog again. In the scene hierarchy, we double-click the proximity sensor's name, so that we can edit its name. We enter bubbleRob_sensingNose and press enter.

We select bubbleRob_sensingNose, then control-select bubbleRob, then click [Menu bar --> Edit --> Make last selected object parent]. This attaches the sensor to the body of the robot. We could also have dragged bubbleRob_sensingNose onto bubbleRob in the scene hierarchy. This is what we now have:
From bc9501029d6fc97275b67f4466c8179d71fc6ade Mon Sep 17 00:00:00 2001 From: Hongzhuo Liang Date: Fri, 23 Oct 2020 12:44:16 +0200 Subject: [PATCH 2/3] Update bubbleRobTutorial.htm how to set material to noFrictionMaterial is not clear here, so I add some explanations here. --- en/bubbleRobTutorial.htm | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/en/bubbleRobTutorial.htm b/en/bubbleRobTutorial.htm index 73a00f52..f42116c6 100644 --- a/en/bubbleRobTutorial.htm +++ b/en/bubbleRobTutorial.htm @@ -54,7 +54,7 @@

BubbleRob tutorial

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We run the simulation and notice that the robot is falling backwards. We are still missing a third contact point to the floor. We now add a small slider (or caster). In a new scene we and add a pure primitive sphere with diameter 0.05 and make the sphere Collidable, Measurable, Renderable and Detectable (if not already enabled), then rename it to bubbleRob_slider. We set the Material to noFrictionMaterial in the shape dynamics properties. To rigidly link the slider with the rest of the robot, we add a force sensor object with [Menu bar --> Add --> Force sensor]. We rename it to bubbleRob_connection and shift it up by 0.05. We attach the slider to the force sensor, then copy both objects, switch back to scene 1 and paste them. We then shift the force sensor by -0.07 along the absolute X-axis, then attach it to the robot body. If we run the simulation now, we can notice that the slider is slightly moving in relation to the robot body: this is because both objects (i.e. bubbleRob_slider and bubbleRob) are colliding with each other. To avoid strange effects during dynamics simulation, we have to inform CoppeliaSim that both objects do not mutually collide, and we do this in following way: in the shape dynamics properties, for bubbleRob_slider we set the local respondable mask to 00001111, and for bubbleRob, we set the local respondable mask to 11110000. If we run the simulation again, we can notice that both objects do not interfere anymore. This is what we now have:

+

We run the simulation and notice that the robot is falling backwards. We are still missing a third contact point to the floor. We now add a small slider (or caster). In a new scene we and add a pure primitive sphere with diameter 0.05 and make the sphere Collidable, Measurable, Renderable and Detectable (if not already enabled), then rename it to bubbleRob_slider. We set the Material to noFrictionMaterial in the shape dynamics properties under Edit Material -> Apply predifined settings. To rigidly link the slider with the rest of the robot, we add a force sensor object with [Menu bar --> Add --> Force sensor]. We rename it to bubbleRob_connection and shift it up by 0.05. We attach the slider to the force sensor, then copy both objects, switch back to scene 1 and paste them. We then shift the force sensor by -0.07 along the absolute X-axis, then attach it to the robot body. If we run the simulation now, we can notice that the slider is slightly moving in relation to the robot body: this is because both objects (i.e. bubbleRob_slider and bubbleRob) are colliding with each other. To avoid strange effects during dynamics simulation, we have to inform CoppeliaSim that both objects do not mutually collide, and we do this in following way: in the shape dynamics properties, for bubbleRob_slider we set the local respondable mask to 00001111, and for bubbleRob, we set the local respondable mask to 11110000. If we run the simulation again, we can notice that both objects do not interfere anymore. This is what we now have:

[Proximity sensor, motors, wheels and slider]

From dbc7a31256a7edd0d63bf199b503724e57dff810 Mon Sep 17 00:00:00 2001 From: Hongzhuo Liang Date: Fri, 23 Oct 2020 12:48:13 +0200 Subject: [PATCH 3/3] Update bubbleRobTutorial.htm use the save arrows as documentation --- en/bubbleRobTutorial.htm | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/en/bubbleRobTutorial.htm b/en/bubbleRobTutorial.htm index f42116c6..a0053291 100644 --- a/en/bubbleRobTutorial.htm +++ b/en/bubbleRobTutorial.htm @@ -54,7 +54,7 @@

BubbleRob tutorial

-

We run the simulation and notice that the robot is falling backwards. We are still missing a third contact point to the floor. We now add a small slider (or caster). In a new scene we and add a pure primitive sphere with diameter 0.05 and make the sphere Collidable, Measurable, Renderable and Detectable (if not already enabled), then rename it to bubbleRob_slider. We set the Material to noFrictionMaterial in the shape dynamics properties under Edit Material -> Apply predifined settings. To rigidly link the slider with the rest of the robot, we add a force sensor object with [Menu bar --> Add --> Force sensor]. We rename it to bubbleRob_connection and shift it up by 0.05. We attach the slider to the force sensor, then copy both objects, switch back to scene 1 and paste them. We then shift the force sensor by -0.07 along the absolute X-axis, then attach it to the robot body. If we run the simulation now, we can notice that the slider is slightly moving in relation to the robot body: this is because both objects (i.e. bubbleRob_slider and bubbleRob) are colliding with each other. To avoid strange effects during dynamics simulation, we have to inform CoppeliaSim that both objects do not mutually collide, and we do this in following way: in the shape dynamics properties, for bubbleRob_slider we set the local respondable mask to 00001111, and for bubbleRob, we set the local respondable mask to 11110000. If we run the simulation again, we can notice that both objects do not interfere anymore. This is what we now have:

+

We run the simulation and notice that the robot is falling backwards. We are still missing a third contact point to the floor. We now add a small slider (or caster). In a new scene we and add a pure primitive sphere with diameter 0.05 and make the sphere Collidable, Measurable, Renderable and Detectable (if not already enabled), then rename it to bubbleRob_slider. We set the Material to noFrictionMaterial in the shape dynamics properties under Edit Material --> Apply predifined settings. To rigidly link the slider with the rest of the robot, we add a force sensor object with [Menu bar --> Add --> Force sensor]. We rename it to bubbleRob_connection and shift it up by 0.05. We attach the slider to the force sensor, then copy both objects, switch back to scene 1 and paste them. We then shift the force sensor by -0.07 along the absolute X-axis, then attach it to the robot body. If we run the simulation now, we can notice that the slider is slightly moving in relation to the robot body: this is because both objects (i.e. bubbleRob_slider and bubbleRob) are colliding with each other. To avoid strange effects during dynamics simulation, we have to inform CoppeliaSim that both objects do not mutually collide, and we do this in following way: in the shape dynamics properties, for bubbleRob_slider we set the local respondable mask to 00001111, and for bubbleRob, we set the local respondable mask to 11110000. If we run the simulation again, we can notice that both objects do not interfere anymore. This is what we now have:

[Proximity sensor, motors, wheels and slider]