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

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

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

Place a ball in front of robot’s kicking foot. Robot will kick the ball.
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.
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
Repeat the corresponding procedure for each foot.