move behavior to worldstate (temporarly)

Author: paudar

Cargo.lock

@@ -5,7 +5,6 @@ members = [
   "crates/argument_parsers",
   "crates/audio",
   "crates/ball_filter",
-  "crates/behavior",
   "crates/bevy_mujoco",
   "crates/bevyhavior_simulator",
   "crates/booster",
@@ -93,7 +92,6 @@ bat = { version = "0.25.0", default-features = false, features = [
   "paging",
   "regex-fancy",
 ] }
-behavior = { path = "crates/behavior" }
 bevy = { version = "0.16.0", default-features = false }
 bevy-inspector-egui = "0.29.1"
 bevy_asset_loader = "0.22.0"

Cargo.toml

@@ -36,6 +36,7 @@ pub struct CycleContext {
     imu_state: Input<ImuState, "imu_state">,
     serial_motor_states: Input<Joints<MotorState>, "serial_motor_states">,
     cycle_time: Input<CycleTime, "cycle_time">,
+    motion_command: Input<MotionCommand, "WorldState", "motion_command">,
 }
 
 #[context]

crates/behavior/Cargo.toml

@@ -8,7 +8,6 @@ homepage.workspace = true
 [dependencies]
 audio = { workspace = true }
 ball_filter = { workspace = true }
-behavior = { workspace = true }
 bincode = { workspace = true }
 booster = { workspace = true }
 buffered_watch = { workspace = true }
@@ -42,7 +41,6 @@ tokio = { workspace = true }
 types = { workspace = true }
 vision = { workspace = true }
 walking_inference = { workspace = true }
-world_state = { workspace = true }
 zed = { workspace = true }
 
 [build-dependencies]

crates/behavior/src/lib.rs

@@ -114,20 +114,16 @@ pub fn collect_hulk_cyclers(root: impl AsRef<Path>) -> Result<Cyclers, Error> {
                 ],
                 execution_time_warning_threshold: Some(Duration::from_secs_f32(1.0 / 83.0)),
             },
-            CyclerManifest {
-                name: "Behavior",
-                kind: CyclerKind::Perception,
-                instances: vec![""],
-                setup_nodes: vec!["behavior::trigger"],
-                nodes: vec!["behavior::walk_to_ball"],
-                execution_time_warning_threshold: Some(Duration::from_secs_f32(1.0 / 83.0)),
-            },
             CyclerManifest {
                 name: "WorldState",
                 kind: CyclerKind::RealTime,
                 instances: vec![""],
                 setup_nodes: vec!["world_state::trigger"],
-                nodes: vec!["world_state::ball_filter"],
+                nodes: vec![
+                    "world_state::ball_filter",
+                    "world_state::ball_projector",
+                    "world_state::walk_to_ball",
+                ],
                 execution_time_warning_threshold: Some(Duration::from_secs_f32(1.0 / 83.0)),
             },
             // CyclerManifest {

crates/behavior/src/trigger.rs

@@ -9,7 +9,6 @@ homepage.workspace = true
 approx.workspace = true
 audio = { workspace = true }
 ball_filter = { workspace = true }
-behavior = { workspace = true }
 bincode = { workspace = true }
 blake3 = { workspace = true }
 booster = { workspace = true }

crates/control/src/motion/booster_walking.rs

@@ -8,7 +8,6 @@ homepage.workspace = true
 [dependencies]
 audio = { workspace = true }
 ball_filter = { workspace = true }
-behavior = { workspace = true }
 bincode = { workspace = true }
 blake3 = { workspace = true }
 booster = { workspace = true }
@@ -49,7 +48,6 @@ tokio-util = { workspace = true }
 types = { workspace = true }
 vision = { workspace = true }
 walking_inference = { workspace = true }
-world_state ={ workspace = true}
 zed = { workspace = true }
 
 [build-dependencies]