Wrench Matrix Fixing

[nathanaelren]

Motivation

As a developer, I want to:

Have a process and script for finding the wrench matrix of our robot.

So that I can:

Properly set the wrench matrix to increase the reliability of our robot.

Completion criteria

Minimum Viable Product (MVP)

Have a working Wrench matrix for Crush (8 thrusters) and an updated Wrench matrix for Oogway.

Stretch

Have a documented process and a working Python script.

Timeline

16 December 2025

Testing requirements

• Test in water and move properly

Implementation

High-level overview

Research how to properly form / calculate / find a Wrench matrix and go ahead with implementation. May need to talk to Mechanical re specific specifications.

Checklist

As we know more about how the feature might be implemented, please add a checklist so we can track progress.

Additional notes

None for now.

[maxwellmlin]

@alec-03 @nathanaelren I think we already have a script to compute the wrench matrix (see https://github.com/DukeRobotics/robosub-ros2/tree/main/onboard/src/controls#compute_wrench_matrixpy).

[nathanaelren]

Yeah lol saw that unsure how good it is tho considering we currently don't use it and Crush copied Oogway's wrench matrix

[maxwellmlin]

Hmm not sure then

[alec-03]

Crush has an outdated wrench matrix, if you run the compute_wrench_matrix script on main you should see it overwrite the wrench csv with new values. Not sure if this was a merge conflict that got overlooked or what.

[drago314]

After thinking about coordinate frames and such, it appears the new (unused) crush wrench matrix values are correct. They will probably never be tested because next time we see Crush it will have 8 thrusters, but it gives me hope that 8 thruster crush will work "out of the box". We shall see

[drago314]

In other words, this task is on hold until 8 thruster crush does or doesn't work because I do not see any bugs and the new wrench matrix seems correct. It is a mystery why the old one works.