Open
Conversation
pejotejo
force-pushed
the
striker_tree
branch
2 times, most recently
from
1c81ce6 to
613fa41
Compare
paudar
reviewed
Apr 22, 2026
| } | ||
|
|
||
| impl MotionType { | ||
| pub fn is_stable(&self) -> bool { |
Contributor
Author
There was a problem hiding this comment.
was from the old behavior, is now gone
| selection!( | ||
| sequence!( | ||
| condition!(is_last_motion_type, MotionType::Walk), | ||
| action!(set_is_alternative), |
Contributor
There was a problem hiding this comment.
In my view, the set_is_alternative function is not relevant
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
2 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Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be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.
depends on #2435
Why? What?
Adds a more complex striker tree with switching between walking and kicking and switching beween the different kicking policies. The current tree should prevent instant switches between the different policies. This should hopefully stabilize its motions. Also its adds an interceptmotion.
ToDo / Known Issues
think about how we want to split up the kicking motion with kickingpower and target
Ideas for Next Iterations (Not This PR)
handle headmotion seperately (currently working on it)
How to Test
Play with the robot and look at the behavior tree.