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Patch v2.2.8 - Chase Max Speed + Soft Kick-off

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@Unknownuserfrommars Unknownuserfrommars released this 14 Jul 04:01
v2.2.8
edac701

v2.2.8 - Chase at Max Speed + Soft Kick-off

Config/XML-only release on top of v2.2.7. No C++ changes, no recompile.

Chase speed / mid-chase stalling

  • Chase node now runs at the robot's true max forward speed. subtree_striker_play.xml Chase vx_limit 0.9 -> 1.8 (= robot.vx_limit, the hard ceiling enforced in setVelocity; chase had been capped at half the robot's legs). vtheta_limit 1.0 -> 2.0 so it turns faster and spends less time in Chase's vx *= sigmoid(|targetDir|,1,3) "stop-to-turn" low-speed phase - a major cause of the visible mid-chase halting.
  • strategy.near_ball_speed_limit 0.6 -> 1.0: less crawling within 2 m of the ball. (setVelocity has a 0.3 m/s floor; dial back toward 0.6-0.8 if the faster approach starts bumping the ball before the kick sets up.)
  • Two remaining stall causes are left as opt-in toggles (documented in CHANGELOG): obstacle_avoidance.avoid_during_chase (drops to a fixed 0.5 m/s veer near any obstacle/misdetection - likely the #1 stall on a crowded field) and the ball_location_known dead-stop after >3 s without sight of the ball.

Soft kick-off

  • strategy.soft_kickoff false -> true: during the kickoff window (isKickingOff / isFreekickKickingOff) the Kick node walks through the ball at soft_kickoff_speed (0.3 m/s) instead of 0.9-1.2, giving a gentle short kick-off (~1/3 the momentum) for controlled possession instead of a long blast. Applies to both game and freekick kickoffs. 0.3 is effectively the softest possible (0.3 m/s floor); for an even shorter kick-off, shorten kick contact time (min_msec_kick), not the speed.

Stability note

1.8 m/s + 2.0 rad/s turns is aggressive for a K1 biped. If it falls during chase, lower Chase vx_limit toward ~1.4 (still a big jump from 0.9).

Loading the changes

All changes are non-compiled (config + behavior-tree XML). On the robot run ./scripts/build_brain.sh (--symlink-install, fast, no C++ recompile) then ./scripts/start.sh.

Packaging

  • Repository source folder v2.2.8/ excludes TensorRT .engine model files.
  • Release asset v2.2.8.zip contains the full patch folder, including model engines.
Assets 3
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