Move hardcoded kick power values to configurable parameters in consai_description #494

Copilot · 2025-06-15T09:58:41Z

Problem

Maximum kick power values were hardcoded in tactic files, making parameter tuning difficult and requiring code changes for adjustments. The issue affected both Python and C++ tactic implementations:

Python Kick tactic had MAX_KICK_POWER = 6.0 and TAPPING_KICK_POWER = 2.0
C++ ControlBall had max_shoot_speed_ = 5.5 and max_pass_speed_ = 4.0

Solution

This PR moves all kick power parameters to the centralized configuration system in consai_description, allowing easy tuning without code modifications.

Changes Made

1. Configuration Layer (consai_description)

Added kick_power section to strategy/normal.yaml with parameters:
- max_kick_power: 6.0 - Maximum kick force (must not exceed 6.5 m/s)
- max_shoot_speed: 5.5 - Maximum shooting velocity
- max_pass_speed: 4.0 - Maximum passing velocity
- min_pass_speed: 2.0 - Minimum passing velocity
- tapping_kick_power: 2.0 - Power for dribbling taps

2. World Model Integration

Extended GameConfigModel with kick power fields
Updated world_model_provider_node to parse kick power from strategy parameters and populate game_config

3. Python Tactic Updates

Removed hardcoded constants from Kick class
Modified pass_power() method to accept world_model parameter
Updated kick logic to use world_model.game_config values

4. C++ Tactic Updates

Added set_kick_power_params() method to ControlBall class
Added strategy parameter subscription to controller component
Connected parameter loading to update C++ kick power values

Usage

Kick power can now be tuned by editing consai_description/config/strategy/normal.yaml:

kick_power:
  max_kick_power: 6.0      # Adjust maximum kick force
  max_shoot_speed: 5.5     # Tune shooting power
  max_pass_speed: 4.0      # Control passing strength
  min_pass_speed: 2.0      # Set minimum pass power
  tapping_kick_power: 2.0  # Configure dribbling taps

Parameters are automatically loaded through the existing parameter system and made available to all tactics via world_model.game_config.

Fixes #493.

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Co-authored-by: tilt-silvie <2959645+tilt-silvie@users.noreply.github.com>

ShotaAk · 2025-06-15T10:35:01Z

consai_robot_controller内のkick関連のコードは、今後使わなくなります。
なので、PRから除外してください。

ShotaAk

consai_robot_controlle内のkick関連のコードは、今後使わなくなります。
なので、consai_robot_controllerに関する変更はPRから除外してください。

tilt-silvie · 2025-06-15T10:48:07Z

consai_robot_controlle内のkick関連のコードは、今後使わなくなります。
なので、consai_robot_controllerに関する変更はPRから除外してください。

…n tactic changes Co-authored-by: tilt-silvie <2959645+tilt-silvie@users.noreply.github.com>

Copilot · 2025-06-15T10:53:34Z

consai_robot_controller内のkick関連のコードは、今後使わなくなります。
なので、PRから除外してください。

All consai_robot_controller changes have been removed from the PR per your feedback. The PR now only includes the Python tactic changes and configuration parameters. Commit: b38e702

consai_robot_controlle内のkick関連のコードは、今後使わなくなります。
なので、consai_robot_controllerに関する変更はPRから除外してください。

All consai_robot_controller changes have been removed from the PR per your feedback. The PR now only includes the Python tactic changes and configuration parameters. Commit: b38e702

consai_robot_controlle内のkick関連のコードは、今後使わなくなります。
なので、consai_robot_controllerに関する変更はPRから除外してください。

All consai_robot_controller changes have been removed from the PR per your feedback. The PR now only includes the Python tactic changes and configuration parameters. Commit: b38e702

ShotaAk · 2025-06-15T12:07:27Z

consai_description/config/strategy/normal.yaml

+      max_shoot_speed: 5.5  # シュート時の最大速度 [m/s]
+      max_pass_speed: 4.0  # パス時の最大速度 [m/s] 


これら2つは使用されていないので削除してください

Removed the unused max_shoot_speed and max_pass_speed parameters from the configuration. Commit: b0dd799

ShotaAk · 2025-06-15T12:07:48Z

consai_description/config/strategy/normal.yaml

+      max_kick_power: 6.0  # 最大キック力 [m/s] (6.5 m/sを越えてはいけない)
+      max_shoot_speed: 5.5  # シュート時の最大速度 [m/s]
+      max_pass_speed: 4.0  # パス時の最大速度 [m/s] 
+      min_pass_speed: 2.0  # パス時の最小速度 [m/s]


min_pass_powerに名前を変えてください

Renamed min_pass_speed to min_pass_power in the configuration and updated all references in the code. Commit: b0dd799

ShotaAk · 2025-06-15T12:14:21Z

consai_description/config/strategy/normal.yaml

+      max_shoot_speed: 5.5  # シュート時の最大速度 [m/s]
+      max_pass_speed: 4.0  # パス時の最大速度 [m/s] 
+      min_pass_speed: 2.0  # パス時の最小速度 [m/s]


max_shoot_speedとmax_pass_speedは使われていないので削除してください。

min_pass_speedはmin_pass_powerに名前を変えてください

・max_shoot_speedとmax_pass_speedは使われていないので削除してください。

・min_pass_speedはmin_pass_powerに名前を変えてください

・lintで弾かれています。CIのbuild_and_lint　ジョブが成功するように修正してください。

All requested changes completed: removed unused max_shoot_speed and max_pass_speed parameters, renamed min_pass_speed to min_pass_power, and fixed all linting issues. Commit: b0dd799

tilt-silvie · 2025-06-15T12:19:11Z

consai_description/config/strategy/normal.yaml　について
・max_shoot_speedとmax_pass_speedは使われていないので削除してください。
・min_pass_speedはmin_pass_powerに名前を変えてください

また、全体について
・lintで弾かれています。CIのbuild_and_lint　ジョブが成功するように修正してください。

…pass_power Co-authored-by: tilt-silvie <2959645+tilt-silvie@users.noreply.github.com>

Co-authored-by: tilt-silvie <2959645+tilt-silvie@users.noreply.github.com>

Copilot · 2025-06-15T12:32:44Z

consai_description/config/strategy/normal.yaml　について
・max_shoot_speedとmax_pass_speedは使われていないので削除してください。
・min_pass_speedはmin_pass_powerに名前...

All requested changes completed: removed unused max_shoot_speed and max_pass_speed parameters, renamed min_pass_speed to min_pass_power, and fixed all linting issues (trailing spaces in YAML file). Commit: 122dc63

ShotaAk

LGTM

Initial plan for issue

d677294

Copilot AI assigned Copilot and tilt-silvie Jun 15, 2025

Copilot started work on behalf of tilt-silvie June 15, 2025 09:58 View session

Add kick power parameters to configuration and update Python/C++ code

73bbadd

Co-authored-by: tilt-silvie <2959645+tilt-silvie@users.noreply.github.com>

Copilot AI changed the title ~~[WIP] 最大キック力をconsai_descriptionで定義したい~~ Move hardcoded kick power values to configurable parameters in consai_description Jun 15, 2025

Copilot AI requested a review from tilt-silvie June 15, 2025 10:11

Copilot finished work on behalf of tilt-silvie June 15, 2025 10:11

ShotaAk requested changes Jun 15, 2025

View reviewed changes

Copilot started work on behalf of tilt-silvie June 15, 2025 10:48 View session

Remove consai_robot_controller changes per feedback - keep only Pytho…

b38e702

…n tactic changes Co-authored-by: tilt-silvie <2959645+tilt-silvie@users.noreply.github.com>

Copilot finished work on behalf of tilt-silvie June 15, 2025 10:54

ShotaAk requested changes Jun 15, 2025

View reviewed changes

ShotaAk reviewed Jun 15, 2025

View reviewed changes

Copilot started work on behalf of tilt-silvie June 15, 2025 12:17 View session

Remove unused kick power parameters and rename min_pass_speed to min_…

b0dd799

…pass_power Co-authored-by: tilt-silvie <2959645+tilt-silvie@users.noreply.github.com>

Copilot finished work on behalf of tilt-silvie June 15, 2025 12:27

Copilot started work on behalf of tilt-silvie June 15, 2025 12:27 View session

Fix YAML linting issues - remove trailing spaces

122dc63

Co-authored-by: tilt-silvie <2959645+tilt-silvie@users.noreply.github.com>

Copilot finished work on behalf of tilt-silvie June 15, 2025 12:33

ShotaAk approved these changes Jun 15, 2025

View reviewed changes

ShotaAk marked this pull request as ready for review June 15, 2025 12:50

ShotaAk merged commit 9955f28 into main Jun 15, 2025
13 checks passed

ShotaAk deleted the copilot/fix-493 branch June 15, 2025 12:50

		max_shoot_speed: 5.5 # シュート時の最大速度 [m/s]
		max_pass_speed: 4.0 # パス時の最大速度 [m/s]

Move hardcoded kick power values to configurable parameters in consai_description #494

Move hardcoded kick power values to configurable parameters in consai_description #494

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