Checking that a robot is OK

Zero and legs backlash

Set the robot to init and check for misalignments and important backlashes

Check piano wires

They should not be bent, head should not hit the ground when the robot fall

Camera focus check

Check that the camera focus is not blurry with view /Vision/TaggedImg.

Horizon line check

Run view /Vision/TaggedImg, check that the (blue) horizon line is properly positionned. You can have a look at a goal post, the horizon line should be at the same height that the robot if it was there.

Perception check

Run view /Vision/yolo/out, check that the objects are well detected.

Ball position check

Run init, walk and /moves/head/disabled=0, put a ball at robot's feet, it should watch it. Center the ball in front of the robot, check for:
- /localisation/ballY: should be 0
- /localisation/ballX: should be ~0.2

Standup check

Check that the robot is able to standup front and back side.

Kick check

Run the left and right foot kick for each possible kicks (classic and small).

IMU check

Run the 3D pyBullet viewer and check that the robot is not abnormally tilted and that the ball is seen at the proper position

Foot pressure check

Put the robot on the ground
Run tare, check that the output is OK
Go to /lowlevel/left_pressure and monitor the values plot pressure_0 pressure_1 pressure_2 pressure_3, press the jauges and check that it is moving positively
Do the same for right foot in /lowlevel/right_pressure

Global integration test

The robot should be able to score a goal by walking from the middle of the field to the ball and kick.