add new behavior parameter

Author: paudar

crates/hulk_manifest/src/lib.rs

@@ -110,10 +110,9 @@ pub fn collect_hulk_cyclers(root: impl AsRef<Path>) -> Result<Cyclers, Error> {
                     "world_state::ball_filter",
                     "world_state::ball_projector",
                     "world_state::behavior::walk_to_ball",
+                    "world_state::camera_matrix_calculator",
                     "world_state::game_controller_filter",
                     "world_state::game_controller_state_filter",
-                    "world_state::ball_projector",
-                    "world_state::camera_matrix_calculator",
                     "world_state::ground_provider",
                     "world_state::kinematics_provider",
                 ],

crates/types/src/parameters.rs

@@ -51,6 +51,7 @@ pub struct BehaviorParameters {
     pub maximum_lookaround_duration: Duration,
     pub time_to_reach_delay_when_fallen: Duration,
     pub maximum_standup_attempts: u32,
+    pub walk_with_velocity: WalkWithVelocityParameters,
 }
 
 #[derive(
@@ -501,6 +502,14 @@ pub struct RLWalkingParameters {
     pub joint_position_smoothing_factor: f32,
 }
 
+#[derive(
+    Clone, Debug, Default, Deserialize, Serialize, PathSerialize, PathDeserialize, PathIntrospect,
+)]
+pub struct WalkWithVelocityParameters {
+    pub max_velocity: f32,
+    pub max_angular_velocity: f32,
+}
+
 #[derive(
     Clone, Debug, Default, Deserialize, Serialize, PathSerialize, PathDeserialize, PathIntrospect,
 )]

crates/vision/src/image_receiver.rs

@@ -26,7 +26,6 @@ pub struct MainOutputs {
     pub image: MainOutput<Image>,
     pub camera_info: MainOutput<CameraInfo>,
     pub cycle_time: MainOutput<CycleTime>,
-    pub balls: MainOutput<Option<Vec<BallPercept>>>,
 }
 
 impl ImageReceiver {
@@ -56,7 +55,6 @@ impl ImageReceiver {
             image: image.into(),
             camera_info: camera_info.into(),
             cycle_time: cycle_time.into(),
-            balls: None.into(),
         })
     }
 }

crates/world_state/src/behavior/walk_to_ball.rs

@@ -5,6 +5,7 @@ use framework::MainOutput;
 use serde::{Deserialize, Serialize};
 use types::ball_position::BallPosition;
 use types::motion_command::{HeadMotion, MotionCommand};
+use types::parameters::WalkWithVelocityParameters;
 
 #[derive(Deserialize, Serialize)]
 pub struct WalkToBall {}
@@ -15,6 +16,8 @@ pub struct CreationContext {}
 #[context]
 pub struct CycleContext {
     ball_position: Input<Option<BallPosition<Ground>>, "ball_position?">,
+    walk_with_velocity_parameter:
+        Parameter<WalkWithVelocityParameters, "behavior.walk_with_velocity">,
 }
 
 #[context]
@@ -33,10 +36,17 @@ impl WalkToBall {
             Some(ball_position) => {
                 let ball_coordinates_in_ground = ball_position.position.coords();
                 let head = HeadMotion::Center;
+                let max_angular_velocity_abs = context
+                    .walk_with_velocity_parameter
+                    .max_angular_velocity
+                    .abs();
                 MotionCommand::WalkWithVelocity {
                     head,
-                    velocity: ball_coordinates_in_ground.normalize() * 0.5, // TODO: parameterize
-                    angular_velocity: ball_coordinates_in_ground.y().clamp(-0.25, 0.25), // TODO: parameterize
+                    velocity: ball_coordinates_in_ground.normalize()
+                        * context.walk_with_velocity_parameter.max_velocity,
+                    angular_velocity: ball_coordinates_in_ground
+                        .y()
+                        .clamp(-max_angular_velocity_abs, max_angular_velocity_abs),
                 }
             }
             None => MotionCommand::Stand {

etc/parameters/default.json

@@ -320,6 +320,12 @@
       "secs": 30
     }
   },
+  "behavior": {
+    "walk_with_velocity": {
+      "max_velocity": 0.5,
+      "max_angular_velocity": 0.25
+    }
+  },
   "field_dimensions": {
     "ball_radius": 0.095,
     "length": 9.0,