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. The value can be positive or negative (as seen in the example config below).

   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 the corresponding procedure for each foot.