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pollen-robotics

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microduck-simulator

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Click-to-walk waypoint control (runtime only, no new policy)

Left-click a point on the arena floor and the duck walks (or skates) there. The click is turned into the same [vx, 0, wz] twist command the locomotion policies already track, so no retraining is involved. Works in both variants: legs and rollers.

How it works

• New WaypointSource (app/src/game/controls/waypoint.js) raycasts the click onto the floor plane, clamps the target inside the arena, then steers each frame: proportional yaw toward the target, forward speed scaled by cos(heading error) so the duck turns in place first, commands EMA-smoothed and clamped to the trained velocity limits. A 0.12 m dead zone stops it on arrival (all-zero command = trained "stand still").
• Click vs. drag disambiguation: a target only arms on a short, low-movement mouse press, so camera orbit and duck/ball grab-drags are untouched. Suppressed in head mode, during roll/kick actions, while grabbing, or when input is locked.
• Arbitration: registered last in the controller's source list, so keyboard/gamepad/touch preempt it instantly, and any manual input cancels the pending target (no snap-back to a stale click). Sim reset also cancels it.
• Feedback: a pulsing orange ring marks the active target; the cursor shows a crosshair over clickable floor.
• Small refactor: trunk-yaw-from-quaternion extraction now shared as duckYaw() in game.js (chase cam, camera reset, and the waypoint follower all use it).

Tested manually in both leg (walking) and roller (skating) variants.