Week 30. 16/3/2021

Hello!

This week I had done:

• I made two videos for kibotics one is upload Laberinto Drones

• I changed the config file for the gripper parts move with the robot, the problem now is that since they are static we cannot use functions to make them move, when the gripper is dynamic it does not work

Gripper new Config file

  {
      "scene-parent-id": "myIFrame",
      "scene": {
          "id": "scene",
          "gravity": -9.8,
          "ground": "../assets/textures/handkerchief.png",
          "sky": "../assets/textures/sky.png",
          "background": "color: gray;",
          "inspector": "url: https://aframe.io/releases/0.4.0/aframe-inspector.min.js",
          "embedded": true,
          "physics": "restitution:0; debug: true; friction:0.00008888",
    "renderer":"colorManagement: true"
      },
      "robots_config": [
          {
              "controller": "user1",
              "id": "a-pibot"
          }
      ],
      "assets": [
          {
              "tag": "img",
              "attr": {
                  "id": "ground",
                  "alt": "Texture for the scene ground",
                  "src": "../assets/textures/handkerchief.png"
              }
          },
          {
              "tag": "a-asset-item",
              "attr": {
                  "id": "model-pibot"
              }
          },
      {
              "tag": "a-asset-item",
              "attr": {
                  "id": "model-can"
              }
          },
          {
              "tag": "img",
              "attr": {
                  "id": "sky",
                  "alt": "Texture for the scene ground",
                  "src": "../assets/textures/sky.png"
              }
          }
      ],
      "objects":[
          {
              "tag": "a-entity",
              "attr": {
      "id":"objeto",
      "gltf-model":"../assets/models/can.gltf",
                  "position": { "x":-2.25, "y":0.3, "z":-9.5},
                   "scale": { "x":0.3, "y":0.3, "z":0.3},
                  "body":{"type": "dynamic", "mass": 2, "shape":"cylinder"}

              }
          },



          {
              "tag": "a-entity",
              "attr": {
                  "id": "sceneCamWrapper",
                  "position":{ "x":1, "y":9, "z":15},
                  "rotation": { "x":0, "y":0, "z":0},
                  "movement-controls": "fly:true"
              },
              "childs": [
                  {
                      "tag": "a-camera",
                      "attr": {
                          "id": "sceneCam",
                          "position": { "x":0, "y":0, "z":0},
                          "rotation": { "x":0, "y":0, "z":0},
                          "active": true,
                          "wasd-controls-enabled": true,
                          "look-controls-enabled": true
                      }
                  }
              ]
          },
          {
              "tag": "a-robot",
              "attr": {
                  "id": "a-pibot",
                  "gltf-model":"../assets/models/mbot_base.gltf",
                  "scale": { "x":20, "y":20, "z":20},
                  "position": { "x":-35, "y":0.5, "z":-6},
                  "rotation": { "x":0, "y":0, "z":0},
                  "dynamic-body":{"mass": 100,"shape":"none"},
       "shape__main":{"shape": "box",
                           "halfExtents": "0.055 0.04 0.05",
                           "offset": "-0.025 0.04 0"}


              },
              "childs": [
                  {
                      "tag": "a-entity",
                      "attr": {
                          "id": "a-pibotCamera1Wrapper",
                          "position": { "x": 0.02, "y": 0.025, "z": 0},
                          "rotation": { "x": 0, "y":-90, "z":0}
                      },
                      "childs": [
                          {
                              "tag": "a-camera",
                              "attr": {
                                  "id": "a-pibotCamera1",
                                  "position": { "x":0, "y":0, "z":0},
                                  "rotation": { "x":0, "y":0, "z":0},
                                  "active": false,
                                  "spectator": "canvas:#spectatorDiv; canvasID: a-pibotCamera1Canvas;",
                                  "wasd-controls-enabled": false,
                                  "look-controls-enabled": false
                              }
                          },
        {
            "tag": "a-box",
            "attr": {
          "id":"izquierda",
          "position": { "x":-0.025, "y":0, "z":-0.05},
          "scale": { "x":0.01, "y":0.01, "z":0.07},
          "rotation": { "x": 0, "y":0, "z":0},
          "body":{"type": "static", "mass": 10, "shape":"none"},
          "color": "#FFC300",
          "shape__main":{"shape": "box"
                               }

            }
        },
  {
            "tag": "a-box",
            "attr": {
          "id":"derecha",
          "position": { "x":0.025, "y":0, "z":-0.05},
          "scale": { "x":0.01, "y":0.01, "z":0.07},
          "rotation": { "x": 0, "y":0, "z":0},
          "body":{"type": "static", "mass": 10, "shape":"none"},
          "color": "#FFC300",
          "shape__main":{"shape": "box"
                               }

            }
        },

                          {
                              "tag": "a-camera-IR",
                              "attr": {
                                  "id": "camera-IR",
                                  "position": { "x":0, "y":-0.02, "z":0.01},
                                  "rotation": { "x":-40, "y":0, "z":0},
                                  "active": false,
                                  "wasd-controls-enabled": false,
                                  "look-controls-enabled": false
                              }
                          }
                      ]
                  }
              ]
          },
          {
              "tag": "a-plane",
              "attr": {
                  "static-body": {
                      "mass": 10
                  },
                  "position": { "x":0, "y":0, "z":-4 },
                  "rotation": { "x":-90, "y":0, "z":0 },
                  "width": "100",
                  "height": "100",
                  "src":"#ground"


              }
          },
          {
              "tag": "a-entity",
              "attr": {
                  "iterations": {
                      "id": "a-componentAux",
                      "count": "0",
                      "position": {"x": 0, "y": 0, "z":0}
                  }
              }
          },
          {
              "tag": "a-sky",
              "attr": {
                  "src": "#sky"
              }
          },
  {
              "tag": "a-entity",
              "attr": {
                  "light": {"type":"ambient","color":"#fff"}
              }
          },
    {
              "tag": "a-entity",
              "attr": {
                  "light": {"type":"point","color":"#fff"}
              }
          }


  ]
  }

• Dynamic problems –> octohedra do not move with the robot are independent objects.