From a78c1c2971f9f8b7773ef99bc4e70b71ac586df9 Mon Sep 17 00:00:00 2001
From: knoellle <33729490+knoellle@users.noreply.github.com>
Date: Sun, 9 Jun 2024 16:17:35 +0200
Subject: [PATCH] Just walk to target if no sensible path exists (#1051)

---
 crates/control/src/behavior/walk_to_pose.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/control/src/behavior/walk_to_pose.rs b/crates/control/src/behavior/walk_to_pose.rs
index ff2aaff78d..56c0ee7435 100644
--- a/crates/control/src/behavior/walk_to_pose.rs
+++ b/crates/control/src/behavior/walk_to_pose.rs
@@ -97,7 +97,7 @@ impl<'cycle> WalkPathPlanner<'cycle> {
             .plan(Point::origin(), clamped_target_in_robot)
             .unwrap();
         path_obstacles_output.fill_if_subscribed(|| planner.obstacles.clone());
-        path.unwrap_or_else(|| direct_path(Point::origin(), Point::origin()))
+        path.unwrap_or_else(|| direct_path(Point::origin(), target_in_ground))
     }
 
     pub fn walk_with_obstacle_avoiding_arms(