Kick Lean

Each robot has slightly different motion dynamics, and require a lean offset when kicking, to kick reliably.

Instructions

In this example, we will use a robot with the head of mario and body of yoshi.

Head name	Body name
mario	yoshi

1. Ensure bodyName is correct in image/home/nao/data/configs/mario.cfg.

   [player]
   bodyName=yoshi
   

   Note

   Replace mario and yoshi with your robot’s head and body names

2. To run the kick calibration procedure for the left foot,

   $ runswift --calibration.kick 1 --kick.foot LEFT --kick.leanOffsetL 0.0
   

   To run the kick calibration procedure for the right foot,

   $ runswift --calibration.kick 1 --kick.foot RIGHT --kick.leanOffsetR 0.0
   

3. Place a ball in front of robot’s kicking foot. Robot will kick the ball.

4. Modify the leanOffsetL and leanOffsetR value until the kick doesn’t fallover sideways.

   Note

   kick_lean_offset is in degrees. Increments of 1.0 degrees is recommended for initial tuning, and 0.5 degrees for finer tuning.

   Tip

   Increase kick_lean_offset to make the robot lean more onto the support foot, and vice versa.

5. Copy the tuned leanOffsetL and leanOffsetR into image/home/nao/data/configs/body/yoshi.cfg

   [kick]
   leanOffsetL=1.0
   leanOffsetR=-2.0
   

   Note

   Replace yoshi with your robot’s body names

6. Repeat procedure for both feet.