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New param style #342

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New param style #342

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c95beb4
rewrite yaml
ayin21 Apr 26, 2023
037cfbd
Merge remote-tracking branch 'origin/cleanup/behavior_repo' into feat…
ayin21 Oct 31, 2023
644f752
restuctured params and added description and bounds
ayin21 Jan 9, 2024
7fb22cb
capitalize comments
ayin21 Jan 9, 2024
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4 changes: 2 additions & 2 deletions bitbots_body_behavior/bitbots_body_behavior/actions/go_to_block_position.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,6 @@ def perform(self, reevaluate=False):
self.blackboard.pathfinding.publish(pose_msg)

def _stay_in_front_of_goal(self, y):
# keeps the y-values of the position in between of the goalposts.
# this ensures, that y is in [-self.blackboard.world_model.goal_width / 2, self.blackboard.world_model.goal_width / 2].
# Keeps the y-values of the position in between of the goalposts.
# This ensures, that y is in [-self.blackboard.world_model.goal_width / 2, self.blackboard.world_model.goal_width / 2].
return max(-self.blackboard.world_model.goal_width / 2, min(self.blackboard.world_model.goal_width / 2, y))
16 changes: 1 addition & 15 deletions bitbots_body_behavior/config/body_behavior.yaml
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Expand Up @@ -11,10 +11,6 @@
- "offense"
- "defense"

# When False, the behavior will use a simple fallback mode in which only detected image features are
# used for decision making
use_localization: true

# Position format:
# y
# ^ ______________________
Expand Down Expand Up @@ -59,14 +55,9 @@
# it is considered lost and will be searched
ball_lost_time: 3.0

# The orientation threshold defining which range (in Degrees) is acceptable as aligned to the goal (in each direction)
# The orientation threshold defining which range (in Degrees) is acceptable as aligned to the path planning goal (in each direction)
goal_alignment_orientation_threshold: 20.0

# When the goal has not been seen for `goal_lost_time` seconds,
# it is considered lost and will be searched
goal_lost_time: 30.0


# When the ball is closer than `ball_close_distance` meters
# it is in a reachable area of the robot
ball_close_distance: 1.5
Expand Down Expand Up @@ -129,11 +120,6 @@
theta_sdev: 0.6


# Duration for which the robot tries to orient itself, when the localization precision is low.
reorientation_duration: 10.0

# Duration for which the robot pauses between reorientation runs.
reorientation_pause_duration: 30.0

# minimal difference between the current and the last path planning goal to actually send a new goal.
pathfinding_position_threshold: 0.3
Expand Down
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