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

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

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a734a20
Update go_to_ball.py
cleWu03 Mar 14, 2025
aaa0878
2. version.py
cleWu03 Mar 14, 2025
e034c13
version 3.py
cleWu03 Mar 14, 2025
71691e0
version 4.py
cleWu03 Mar 14, 2025
a3faf12
update format
ayin21 Mar 14, 2025
5e9653a
Version with init
ayin21 Mar 14, 2025
d23b465
Decision moved to init
cleWu03 Mar 15, 2025
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6 changes: 5 additions & 1 deletion ...s_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
import math

from bitbots_blackboard.body_blackboard import BodyBlackboard
from bitbots_blackboard.capsules.pathfinding_capsule import BallGoalType
from dynamic_stack_decider.abstract_action_element import AbstractActionElement
Expand All @@ -22,7 +24,9 @@ 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)
ball_position_y_relative = self.blackboard.world_model.get_ball_position_uv()[1]
self.side_offset = math.copysign(self.side_offset, ball_position_y_relative)

def perform(self, reevaluate=False):
pose_msg = self.blackboard.pathfinding.get_ball_goal(self.target, self.distance, self.side_offset)
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2 changes: 1 addition & 1 deletion bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd
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Expand Up @@ -44,7 +44,7 @@ $AvoidBall
LEFT --> #PerformKickLeft
RIGHT --> #PerformKickRight
FAR --> @ChangeAction + action:going_to_ball, @LookAtFieldFeatures, @GoToBall + target:map
NO --> @ChangeAction + action:going_to_ball + r:false, @LookAtFieldFeatures + r:false, @AvoidBallActive + r:false, @GoToBall + target:map + blocking:false + distance:%ball_far_approach_dist
NO --> @ChangeAction + action:going_to_ball + r:false, @LookAtFieldFeatures + r:false, @AvoidBallActive + r:false, @GoToBall + target:map + blocking:false + distance:%ball_far_approach_dist + side_offset:0.08
YES --> $ReachedPathPlanningGoalPosition + threshold:%ball_far_approach_position_thresh
YES --> @AvoidBallInactive
NO --> @ChangeAction + action:going_to_ball, @LookAtFieldFeatures, @GoToBall + target:map + distance:%ball_far_approach_dist
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