Robot kicks ball sideways when he has to turn around to get to it #731
Description
Summary
When the Ball is behind the robot the robot sometimes kicks the ball to early when it's still in the middle of turning. This results in the ball going in a different direction to planned, often in a 45° angle away from the goal.
Expected behavior
The robot walks behind the ball and turns around till it can do a straight shot.
Current behavior
The robot walks behind the ball and performs a kick in the middle of the turning action, especially when walking around the ball clockwise (due to our right-bias when selecting a foot)
Steps to Reproduce
- Get the robot into playing state in the simulator
- Move the ball behind the robot so that it turns around.
- (Ideally have fake ball localization active so that the robot doesn't have to search for the ball)
- Observe as the robot walks behind the ball and kicks too early