Penalty Shootout Striker

[oleflb]

Our shootout performance at the robocup 2023 competition ... leaves room for improvement. The focus here is the defending capabilities of the robot, especially jumping in the right direction at the right time.

Estimated time: 4 weeks

Ideas:

• precise kicks, DONT touch the ball 2 times

[MaikRe]

node.rs

  Role::Striker => match filtered_game_state {
                None
                | Some(FilteredGameState::Playing {
                    ball_is_free: true, ..
                }) => {
                    actions.push(Action::Dribble);
                }

It may be worth considering having a different/specific action other than dribbling for the striker, so that we don't just walk through the ball/it doesn't modify/interfere with out current dribbling behavior.

It also may be as simple as tuning the in walk kick parameters, specifically the position so that the robot doesn't double touch

"in_walk_kicks": {
    "forward": {
      "position": [-0.16, -0.02],
      "orientation": 0.0,
      "reached_thresholds": [0.06, 0.03, 0.15],
      "shot_distance": 4.0,
      "enabled": true
    }

[MaikRe]

After more clear reading of the the rules it seems that the widestance penalty also applies to the goal keeper during the penalty shootout. Therefore it is of interest of us:

• if the striker hears the whistle, wait for 10-15 seconds in hopes the opponent goalkeeper is penalized for wide stance
• If we do not hear the whistle then we should strike as normal

Also the new kick targets have made kicking better, but we end up with double contacts because the reached thresholds are wrong