Kick foot decision biased goal position while going to ball #675
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Flova
reviewed
Mar 14, 2025
| @@ -22,9 +24,13 @@ def __init__(self, blackboard, dsd, parameters): | |||
| self.blocking = parameters.get("blocking", True) | |||
| self.distance = parameters.get("distance", self.blackboard.config["ball_approach_dist"]) | |||
| # Offset so we kick the ball with one foot instead of the center between the feet | |||
| self.side_offset = parameters.get("side_offset", 0.08) | |||
| self.side_offset = parameters.get("side_offset", 0.00) | |||
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We did some testing during the Go, which still had some issues iirc.. Maybe @cleWu03 remembers more or we can test it in sim. |
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Summary
Calculate the offset for the go to ball position depending on the relative position to the ball
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colcon build