Two Wheels (2, 3) Not in Contact with Ground in GrSim Simulator

[vazzlr]

Bug Description
In the GrSim simulator of RoboCup, all robots have four wheels (1, 2, 3, 4). However, wheels 2 and 3 are not in contact with the ground, making it impossible to calculate any movement for them. This is evident by observing that the wheels are not moving, as there is no contact with the simulator's ground to allow the robot to move using these two wheels. Only wheels 1 and 4 are in contact with the ground and are able to move the robot when speed is applied to them. The problem persists both when using the GrSim Client tool and when executing specific wheel movement code.

To Reproduce
Steps to reproduce the behavior:

1. Start the RoboCup GrSim simulator;
2. Focus the camera on a robot;
3. Execute the GrSim Client tool or movement code with speed defined for each wheel;
4. Test each wheel separately;
5. Note that two of the four wheels (wheels 2 and 3) are not in contact with the ground and, consequently, do not respond to movement commands, remaining static.

These steps provide a clear sequence of actions to reproduce the issue and identify the incorrect behavior in the GrSim simulator of RoboCup.

Expected Behavior
It was expected that all four wheels of the robot would be in contact with the ground and respond to movement commands as specified in the GrSim simulator.

Additional Context
This problem affects the ability to calculate movements for two of the four wheels of the robot in the GrSim simulator of RoboCup. A demonstration video of the bug is available at the following link: https://youtu.be/D1bYDyENXgs. I would like guidance on how to fix this issue and ensure that all wheels of the robot are functioning correctly in the GrSim simulator.

[vazzlr]

Hello everyone,

I am pleased to inform you that the previously reported issue, where wheels 2 and 3 of the robots were not properly in contact with the ground in the GrSim simulator, has been identified and resolved.

After careful analysis, we found that the problem was related to incorrect wheel angles in the RoboIME2012.ini configuration file. The values of the wheel angles have been adjusted as follows:

• Wheel 1: 255
• Wheel 2: 303
• Wheel 3: 45
• Wheel 4: 135

With these adjustments, all wheels are now properly aligned, ensuring they are in proper contact with the ground to allow for precise movement calculations in the GrSim simulator.

Best regards,
Lara Vaz.