add kick test script

agent/agent.py

@@ -104,7 +104,7 @@ class Agent:
             self.agent.skills_manager.execute("Neutral")
         else:
             # self.execute_support_behavior()
-            self.agent.skills_manager.execute("Neutral")
+            self.kick_ball()
 
         self.agent.robot.commit_motor_targets_pd()
 
@@ -205,22 +205,22 @@ class Agent:
             b=target_point,
         )
 
+        kick_offset = MathOps.rotate_2d_vec(np.array([0.0, -0.1]), desired_orientation)
+
         close_to_ball = my_to_ball_dist <= 0.24
-        good_orientation = orientation_error <= 14.0
+        good_orientation = orientation_error <= 8.0
         good_lateral_offset = lateral_error_to_shot_line <= 0.16
-        in_shooting_range = ball_to_target_dist <= 12.0
 
         can_shoot = (
             close_to_ball
             and behind_ball
             and good_orientation
             and good_lateral_offset
-            and in_shooting_range
         )
 
         if not can_shoot:
-            prepare_offset = 0.06
+            prepare_offset = 0.1
-            prepare_pos = ball_pos - ball_to_target_dir * prepare_offset
+            prepare_pos = ball_pos - ball_to_target_dir * prepare_offset + kick_offset
 
             self.agent.skills_manager.execute(
                 "Walk",

behaviors/custom/keyframe/kick/kick_short.yaml

@@ -10,16 +10,16 @@ keyframes:
       Left_Shoulder_Roll: -76.000
       Left_Elbow_Pitch: -62.000
       Left_Elbow_Yaw: 0.000
-      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Pitch: -72.000
       Right_Shoulder_Roll: 52.000
       Right_Elbow_Pitch: -70.000
       Right_Elbow_Yaw: 0.000
       Waist: 0.000
-      Left_Hip_Pitch: -18.000
+      Left_Hip_Pitch: -12.000
       Left_Hip_Roll: 8.000
       Left_Hip_Yaw: 0.000
-      Left_Knee_Pitch: 42.000
+      Left_Knee_Pitch: 35.000
-      Left_Ankle_Pitch: 10.000
+      Left_Ankle_Pitch: -18.000
       Left_Ankle_Roll: 3.000
       Right_Hip_Pitch: 14.000
       Right_Hip_Roll: -9.000
@@ -36,16 +36,16 @@ keyframes:
       Left_Shoulder_Roll: -80.000
       Left_Elbow_Pitch: -70.000
       Left_Elbow_Yaw: 0.000
-      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Pitch: -72.000
       Right_Shoulder_Roll: 50.000
       Right_Elbow_Pitch: -70.000
       Right_Elbow_Yaw: 0.000
       Waist: 0.000
-      Left_Hip_Pitch: -30.000
+      Left_Hip_Pitch: -25.000
       Left_Hip_Roll: 10.000
       Left_Hip_Yaw: 1.000
-      Left_Knee_Pitch: 54.000
+      Left_Knee_Pitch: 45.000
-      Left_Ankle_Pitch: 10.000
+      Left_Ankle_Pitch: -20.000
       Left_Ankle_Roll: 4.500
       Right_Hip_Pitch: 14.000
       Right_Hip_Roll: -9.000
@@ -62,16 +62,16 @@ keyframes:
       Left_Shoulder_Roll: -82.000
       Left_Elbow_Pitch: -74.000
       Left_Elbow_Yaw: 0.000
-      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Pitch: -72.000
       Right_Shoulder_Roll: 48.000
       Right_Elbow_Pitch: -68.000
       Right_Elbow_Yaw: 0.000
       Waist: 0.000
-      Left_Hip_Pitch: -46.000
+      Left_Hip_Pitch: -40.000
       Left_Hip_Roll: 12.000
       Left_Hip_Yaw: 2.000
-      Left_Knee_Pitch: 28.000
+      Left_Knee_Pitch: 18.000
-      Left_Ankle_Pitch: 10.000
+      Left_Ankle_Pitch: -24.000
       Left_Ankle_Roll: 5.000
       Right_Hip_Pitch: 14.000
       Right_Hip_Roll: -8.000
@@ -88,16 +88,16 @@ keyframes:
       Left_Shoulder_Roll: -84.000
       Left_Elbow_Pitch: -76.000
       Left_Elbow_Yaw: 0.000
-      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Pitch: -72.000
       Right_Shoulder_Roll: 46.000
       Right_Elbow_Pitch: -66.000
       Right_Elbow_Yaw: 0.000
       Waist: 0.000
-      Left_Hip_Pitch: -58.000
+      Left_Hip_Pitch: -48.000
       Left_Hip_Roll: 13.000
       Left_Hip_Yaw: 3.000
-      Left_Knee_Pitch: -16.000
+      Left_Knee_Pitch: -8.000
-      Left_Ankle_Pitch: 8.000
+      Left_Ankle_Pitch: -18.000
       Left_Ankle_Roll: 5.000
       Right_Hip_Pitch: 12.000
       Right_Hip_Roll: -8.000
@@ -114,16 +114,16 @@ keyframes:
       Left_Shoulder_Roll: -86.000
       Left_Elbow_Pitch: -72.000
       Left_Elbow_Yaw: 0.000
-      Right_Shoulder_Pitch: 70.000
+      Right_Shoulder_Pitch: -70.000
       Right_Shoulder_Roll: 44.000
       Right_Elbow_Pitch: -64.000
       Right_Elbow_Yaw: 0.000
       Waist: 0.000
-      Left_Hip_Pitch: -62.000
+      Left_Hip_Pitch: -50.000
       Left_Hip_Roll: 13.000
       Left_Hip_Yaw: 3.000
-      Left_Knee_Pitch: 10.000
+      Left_Knee_Pitch: 5.000
-      Left_Ankle_Pitch: 6.000
+      Left_Ankle_Pitch: -22.000
       Left_Ankle_Roll: 5.000
       Right_Hip_Pitch: 12.000
       Right_Hip_Roll: -8.000
@@ -141,16 +141,16 @@ keyframes:
       Left_Shoulder_Roll: -82.000
       Left_Elbow_Pitch: -69.000
       Left_Elbow_Yaw: 0.000
-      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Pitch: -72.000
       Right_Shoulder_Roll: 48.000
       Right_Elbow_Pitch: -68.000
       Right_Elbow_Yaw: 0.000
       Waist: 0.000
-      Left_Hip_Pitch: -16.000
+      Left_Hip_Pitch: -8.000
       Left_Hip_Roll: 9.000
       Left_Hip_Yaw: 1.000
-      Left_Knee_Pitch: 38.000
+      Left_Knee_Pitch: 28.000
-      Left_Ankle_Pitch: 9.000
+      Left_Ankle_Pitch: -22.000
       Left_Ankle_Roll: 3.000
       Right_Hip_Pitch: 8.000
       Right_Hip_Roll: -5.000
@@ -167,16 +167,16 @@ keyframes:
       Left_Shoulder_Roll: -82.000
       Left_Elbow_Pitch: -68.000
       Left_Elbow_Yaw: 0.000
-      Right_Shoulder_Pitch: 68.000
+      Right_Shoulder_Pitch: -68.000
       Right_Shoulder_Roll: 48.000
       Right_Elbow_Pitch: -62.000
       Right_Elbow_Yaw: 0.000
       Waist: 0.000
-      Left_Hip_Pitch: -10.000
+      Left_Hip_Pitch: -2.000
       Left_Hip_Roll: 9.000
       Left_Hip_Yaw: 1.000
-      Left_Knee_Pitch: 34.000
+      Left_Knee_Pitch: 28.000
-      Left_Ankle_Pitch: 9.000
+      Left_Ankle_Pitch: -18.000
       Left_Ankle_Roll: 3.000
       Right_Hip_Pitch: 8.000
       Right_Hip_Roll: -5.000
@@ -193,7 +193,7 @@ keyframes:
       Left_Shoulder_Roll: -75.000
       Left_Elbow_Pitch: -60.000
       Left_Elbow_Yaw: 0.000
-      Right_Shoulder_Pitch: 65.000
+      Right_Shoulder_Pitch: -65.000
       Right_Shoulder_Roll: 45.000
       Right_Elbow_Pitch: -60.000
       Right_Elbow_Yaw: 0.000

kick_test.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+export OMP_NUM_THREADS=1
+
+host=${1:-localhost}
+port=${2:-60000}
+
+python3 run_player.py --host $host --port $port -n 1 -t SE &