restructure parameter for behavior

paudar · paudar · commit 6dd68ec18496 · 2026-01-21T19:37:11.000+01:00
diff --git a/crates/types/src/parameters.rs b/crates/types/src/parameters.rs
@@ -52,7 +52,6 @@ pub struct BehaviorParameters {
     pub time_to_reach_delay_when_fallen: Duration,
     pub maximum_standup_attempts: u32,
     pub walk_with_velocity: WalkWithVelocityParameters,
-    pub angular_velocitiy_scaling_factor: f32,
 }
 
 #[derive(
@@ -500,6 +499,7 @@ pub struct RLWalkingParameters {
 pub struct WalkWithVelocityParameters {
     pub max_velocity: f32,
     pub max_angular_velocity: f32,
+    pub angular_velocity_scaling_factor: f32,
 }
 
 #[derive(
diff --git a/crates/world_state/src/behavior/walk_to_ball.rs b/crates/world_state/src/behavior/walk_to_ball.rs
@@ -22,7 +22,6 @@ pub struct CycleContext {
 
     walk_with_velocity_parameter:
         Parameter<WalkWithVelocityParameters, "behavior.walk_with_velocity">,
-    angular_velocitiy_scaling_factor: Parameter<f32, "behavior.angular_velocitiy_scaling_factor">,
 }
 
 #[context]
@@ -54,7 +53,9 @@ impl WalkToBall {
                     velocity: ball_coordinates_in_ground.normalize()
                         * context.walk_with_velocity_parameter.max_velocity,
                     angular_velocity: (normalized_angle_to_ball
-                        * context.angular_velocitiy_scaling_factor)
+                        * context
+                            .walk_with_velocity_parameter
+                            .angular_velocity_scaling_factor)
                         .clamp(-max_angular_velocity_abs, max_angular_velocity_abs),
                 }
             }
diff --git a/etc/parameters/default.json b/etc/parameters/default.json
@@ -318,9 +318,9 @@
   "behavior": {
     "walk_with_velocity": {
       "max_velocity": 1.0,
-      "max_angular_velocity": 1.0
-    },
-    "angular_velocitiy_scaling_factor": 2.0
+      "max_angular_velocity": 1.0,
+      "angular_velocity_scaling_factor": 2.0
+    }
   },
   "use_remote_control_for_motion_selection": true,
   "field_dimensions": {
diff --git a/tools/mujoco-simulator/mujoco-simulator/K1/ball.xml b/tools/mujoco-simulator/mujoco-simulator/K1/ball.xml
@@ -14,7 +14,7 @@
   </asset>
 
   <worldbody>
-    <body pos="2 -1 2.0" name="ball">
+    <body pos="2 2 2.0" name="ball">
       <joint name="ball_free_joint" type="free" limited="false" actuatorfrclimited="false" damping="0.002" />
 
       <geom name="ball" type="sphere" size="0.095" mass="0.450" solref="0.08 0.25" priority="1"

Original file line number	Diff line number	Diff line change
`@@ -52,7 +52,6 @@ pub struct BehaviorParameters {`
`52`	`52`	`pub time_to_reach_delay_when_fallen: Duration,`
`53`	`53`	`pub maximum_standup_attempts: u32,`
`54`	`54`	`pub walk_with_velocity: WalkWithVelocityParameters,`
`55`		`- pub angular_velocitiy_scaling_factor: f32,`
`56`	`55`	`}`
`57`	`56`
`58`	`57`	`#[derive(`
`@@ -500,6 +499,7 @@ pub struct RLWalkingParameters {`
`500`	`499`	`pub struct WalkWithVelocityParameters {`
`501`	`500`	`pub max_velocity: f32,`
`502`	`501`	`pub max_angular_velocity: f32,`
	`502`	`+ pub angular_velocity_scaling_factor: f32,`
`503`	`503`	`}`
`504`	`504`
`505`	`505`	`#[derive(`
Original file line number	Diff line number	Diff line change
`@@ -22,7 +22,6 @@ pub struct CycleContext {`
`22`	`22`
`23`	`23`	`walk_with_velocity_parameter:`
`24`	`24`	`Parameter<WalkWithVelocityParameters, "behavior.walk_with_velocity">,`
`25`		`- angular_velocitiy_scaling_factor: Parameter<f32, "behavior.angular_velocitiy_scaling_factor">,`
`26`	`25`	`}`
`27`	`26`
`28`	`27`	`#[context]`
`@@ -54,7 +53,9 @@ impl WalkToBall {`
`54`	`53`	`velocity: ball_coordinates_in_ground.normalize()`
`55`	`54`	`* context.walk_with_velocity_parameter.max_velocity,`
`56`	`55`	`angular_velocity: (normalized_angle_to_ball`
`57`		`- * context.angular_velocitiy_scaling_factor)`
	`56`	`+ * context`
	`57`	`+ .walk_with_velocity_parameter`
	`58`	`+ .angular_velocity_scaling_factor)`
`58`	`59`	`.clamp(-max_angular_velocity_abs, max_angular_velocity_abs),`
`59`	`60`	`}`
`60`	`61`	`}`