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 inimage/home/nao/data/configs/mario.cfg
.[player] bodyName=yoshi
Note
Replace
mario
andyoshi
with your robot’s head and body namesTo 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
andleanOffsetR
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
andleanOffsetR
intoimage/home/nao/data/configs/body/yoshi.cfg
[kick] leanOffsetL=1.0 leanOffsetR=-2.0
Note
Replace
yoshi
with your robot’s body namesRepeat the corresponding procedure for each foot.