diff --git a/soccer/src/soccer/planning/planner/plan_request.cpp b/soccer/src/soccer/planning/planner/plan_request.cpp
index 9146f70ca7a..b21b7ccd5e7 100644
--- a/soccer/src/soccer/planning/planner/plan_request.cpp
+++ b/soccer/src/soccer/planning/planner/plan_request.cpp
@@ -66,11 +66,12 @@ void fill_obstacles(const PlanRequest& in, rj_geometry::ShapeSet* out_static,
     }
 
     // Adding ball as a static obstacle (because dynamic obstacles are not working)
+    // Only added when STOP state is enabled
     double ball_vel_scaled = in.world_state->ball.velocity.mag() * .1;
     double radius = kBallRadius + in.min_dist_from_ball * (1.0 + ball_vel_scaled);
     if (in.min_dist_from_ball > 0) {
-        out_static->add(std::make_shared<rj_geometry::Circle>(
-            in.world_state->ball.position, radius));
+        out_static->add(
+            std::make_shared<rj_geometry::Circle>(in.world_state->ball.position, radius));
     }
 
     // Finally, add the ball as a dynamic obstacle.