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Kick foot decision biased goal position while going to ball #675

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@cleWu03 cleWu03 commented Mar 14, 2025

Summary

Calculate the offset for the go to ball position depending on the relative position to the ball

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Checklist

  • Run colcon build
  • Write documentation
  • Test on your machine
  • Test on the robot
  • Create issues for future work
  • Triage this PR and label it

@cleWu03 cleWu03 requested review from Flova and ayin21 March 14, 2025 18:34
@@ -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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Move foot selection here

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