Walk to ball position as default behaviour - #2137
Merged
Merged
Conversation
oleflb
requested changes
Nov 14, 2025
paudar
force-pushed
the
walk_to_ball_as_default
branch
2 times, most recently
from
November 19, 2025 16:04
d566904 to
24f7659
Compare
paudar
force-pushed
the
walk_to_ball_as_default
branch
2 times, most recently
from
November 26, 2025 15:52
78d5a10 to
f58197b
Compare
oleflb
requested changes
Dec 8, 2025
paudar
force-pushed
the
walk_to_ball_as_default
branch
from
December 10, 2025 16:53
b80cbc2 to
39212ac
Compare
paudar
force-pushed
the
walk_to_ball_as_default
branch
4 times, most recently
from
January 14, 2026 17:15
1f36982 to
3fdf253
Compare
paudar
force-pushed
the
walk_to_ball_as_default
branch
4 times, most recently
from
January 18, 2026 12:32
5764aa8 to
076590d
Compare
paudar
force-pushed
the
walk_to_ball_as_default
branch
3 times, most recently
from
January 20, 2026 15:49
7a480f0 to
be8d2a0
Compare
paudar
enabled auto-merge
January 20, 2026 15:51
alexschmander
requested changes
Jan 20, 2026
alexschmander
left a comment
alexschmander
left a comment
Contributor
There was a problem hiding this comment.
Works really great already! Just some tidying up to do ;)
add new world_state-cycler add zero-order-hold-filter as ball_filter impl structure of walk_to_ball-node rename data_receiver add dependencies format add filed_dimensions parameter to allow simulation
format Cargo.toml
move behavior nodes in worldstate to a subfolder
paudar
force-pushed
the
walk_to_ball_as_default
branch
from
January 21, 2026 14:27
e039a45 to
88da518
Compare
paudar
force-pushed
the
walk_to_ball_as_default
branch
from
January 21, 2026 18:44
6dd68ec to
946af4a
Compare
alexschmander
requested changes
Jan 21, 2026
alexschmander
left a comment
alexschmander
left a comment
Contributor
There was a problem hiding this comment.
Just some very minor things left. Otherwise looks good to me
Contributor
|
@oleflb could you resolve your conversations, please? |
alexschmander
approved these changes
Jan 23, 2026
alexschmander
left a comment
alexschmander
left a comment
Contributor
There was a problem hiding this comment.
Very nice! Looks good to me
oleflb
self-requested a review
January 24, 2026 11:10
oleflb
approved these changes
Jan 24, 2026
github-project-automation
Bot
moved this from Request for Review
to Done
in Development
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Why? What?
As a first step of autonomous behaviour we want the K1 to reach the position of the ball.
We wanted to split the control cycler in world_state and behavior, what is not possible with the current state of the Framework.
Therefore only the world_state cycler is introduced, to contain computational and filtering tasks. But it also contains behavior nodes for now.
Fixes #2121
ToDo / Known Issues
Ideas for Next Iterations (Not This PR)
How to Test
run mujoco and the mujoco simulator and see, that the robot is walking in the direction of the ball.