├── .ci.rosinstall ├── .devcontainer ├── local-dev │ ├── Dockerfile │ └── devcontainer.json └── web-dev │ ├── Dockerfile │ ├── devcontainer.json │ └── docker-compose.yml ├── .docker ├── Dockerfile ├── README.md ├── build.sh ├── ci │ ├── Dockerfile │ └── build.sh ├── consai-grsim-compose.yml └── light │ ├── Dockerfile │ └── build.sh ├── .dockerignore ├── .github ├── pull_request_template.md └── workflows │ ├── build_docker_image.yaml │ ├── build_docker_image_for_ci.yaml │ ├── build_lint.yaml │ └── scenario_test.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── README_devcontainer.md ├── README_play_logfile.md ├── auto_restart.sh ├── consai ├── CMakeLists.txt └── package.xml ├── consai_description ├── CMakeLists.txt ├── README.md ├── config │ ├── robot │ │ └── control.yaml │ ├── rule │ │ └── division_a.yaml │ └── strategy │ │ └── normal.yaml ├── consai_description │ ├── __init__.py │ └── parameter_publisher.py ├── launch │ └── parameter_publisher.launch.py └── package.xml ├── consai_examples ├── CMakeLists.txt ├── README.md ├── README.role_assignment.md ├── consai_examples │ ├── __init__.py │ ├── decisions │ │ ├── __init__.py │ │ ├── attacker.py │ │ ├── center_back.py │ │ ├── decision_base.py │ │ ├── goalie.py │ │ ├── side_back.py │ │ ├── side_wing.py │ │ ├── sub_attacker.py │ │ ├── substitute.py │ │ └── zone_defense.py │ ├── field_observer.py │ ├── game.py │ ├── observer │ │ ├── __init__.py │ │ ├── ball_motion_observer.py │ │ ├── ball_placement_observer.py │ │ ├── ball_position_observer.py │ │ ├── detection_wrapper.py │ │ ├── distance_observer.py │ │ ├── field_normalizer.py │ │ ├── field_positions.py │ │ ├── man_mark_observer.py │ │ ├── pass_shoot_observer.py │ │ ├── pos_vel.py │ │ ├── side_back_target_observer.py │ │ ├── zone_ball_observer.py │ │ ├── zone_man_mark_target_observer.py │ │ └── zone_target_observer.py │ ├── operation.py │ ├── operation_test │ │ ├── __init__.py │ │ ├── ball_boy_test.py │ │ ├── control.py │ │ ├── control_by_referee.py │ │ ├── pass_shoot_test.py │ │ ├── shoot_to_their_test.py │ │ └── test_move_to.py │ ├── referee_parser.py │ ├── referee_visualize_parser.py │ ├── robot_operator.py │ ├── role_assignment.py │ └── role_to_visualize_msg.py ├── launch │ └── start.launch.py ├── package.xml ├── resources │ └── visualizer.png └── tests │ ├── README.md │ ├── test_detection_wrapper.py │ ├── test_operation.py │ ├── test_pass_shoot_observer.py │ ├── test_robot_operator.py │ ├── test_role_assignment.py │ ├── tracked_frame_publisher.py │ └── tracked_frame_wrapper.py ├── consai_game ├── CMakeLists.txt ├── README.md ├── consai_game │ ├── __init__.py │ ├── core │ │ ├── play │ │ │ ├── __init__.py │ │ │ ├── play.py │ │ │ ├── play_condition.py │ │ │ └── play_node.py │ │ ├── role_assignment │ │ │ ├── assignor.py │ │ │ ├── factory.py │ │ │ └── methods │ │ │ │ ├── base.py │ │ │ │ ├── by_cost.py │ │ │ │ ├── by_id.py │ │ │ │ ├── by_visible.py │ │ │ │ └── fill_role_gaps.py │ │ └── tactic │ │ │ ├── agent.py │ │ │ ├── agent_scheduler_node.py │ │ │ ├── composite_tactic_base.py │ │ │ ├── robot_tactic_status.py │ │ │ ├── role.py │ │ │ ├── tactic_base.py │ │ │ ├── tactic_state.py │ │ │ └── wrapper_tactic_base.py │ ├── main.py │ ├── play │ │ ├── books │ │ │ ├── __init__.py │ │ │ ├── playbook_chip_kick.py │ │ │ ├── playbook_circular.py │ │ │ ├── playbook_default.py │ │ │ └── playbook_swab.py │ │ ├── conditions │ │ │ ├── __init__.py │ │ │ ├── ball_conditions.py │ │ │ ├── debug_conditions.py │ │ │ ├── referee_conditions.py │ │ │ └── robot_conditions.py │ │ └── factory │ │ │ ├── __init__.py │ │ │ ├── chip_kick_plays.py │ │ │ ├── circular_plays.py │ │ │ ├── running_plays.py │ │ │ ├── set_plays.py │ │ │ └── swab_plays.py │ ├── tactic │ │ ├── __init__.py │ │ ├── back_dribble.py │ │ ├── ball_approach.py │ │ ├── ball_clear.py │ │ ├── center_back.py │ │ ├── chase_ball.py │ │ ├── chip_kick.py │ │ ├── circular_move.py │ │ ├── composite │ │ │ ├── chase_or_position.py │ │ │ ├── composite_ball_centric_mover.py │ │ │ ├── composite_ball_placement.py │ │ │ ├── composite_defense.py │ │ │ ├── composite_goalie.py │ │ │ ├── composite_man_mark.py │ │ │ └── composite_offense.py │ │ ├── defend_goal.py │ │ ├── dribble.py │ │ ├── goalie_positioning.py │ │ ├── kick.py │ │ ├── man_mark.py │ │ ├── move_to_ball.py │ │ ├── position.py │ │ ├── receive.py │ │ ├── stay.py │ │ ├── steal_ball.py │ │ ├── stop.py │ │ ├── swab.py │ │ └── wrapper │ │ │ ├── allow_move_in_defense_area.py │ │ │ ├── forbid_moving_in_placement_area.py │ │ │ ├── move_to_receive_pass.py │ │ │ ├── slow_safe.py │ │ │ ├── with_avoid_ball_zone.py │ │ │ └── wrapper_look_ball.py │ ├── utils │ │ ├── __init__.py │ │ ├── adjust_position_to_field.py │ │ ├── generate_dummy_ball_position.py │ │ ├── geometry.py │ │ ├── make_graph_state_machine.py │ │ └── process_info.py │ ├── visualization │ │ └── visualize_msg_publisher_node.py │ └── world_model │ │ ├── __init__.py │ │ ├── ball_activity_model.py │ │ ├── ball_model.py │ │ ├── ball_position_model.py │ │ ├── field_model.py │ │ ├── game_config_model.py │ │ ├── kick_target_model.py │ │ ├── referee_model.py │ │ ├── robot_activity_model.py │ │ ├── robots_model.py │ │ ├── threats_model.py │ │ ├── world_meta_model.py │ │ ├── world_model.py │ │ └── world_model_provider_node.py ├── launch │ └── start.launch └── package.xml ├── consai_msgs ├── CMakeLists.txt ├── action │ └── RobotControl.action ├── msg │ ├── ConstraintLine.msg │ ├── ConstraintObject.msg │ ├── ConstraintPose.msg │ ├── ConstraintTheta.msg │ ├── ConstraintXY.msg │ ├── GoalPose.msg │ ├── GoalPoses.msg │ ├── MotionCommand.msg │ ├── MotionCommandArray.msg │ ├── NamedTargets.msg │ ├── NaviOptions.msg │ ├── ParsedReferee.msg │ ├── RefereeSupportInfo.msg │ ├── RobotControlMsg.msg │ ├── RobotLocalVelocities.msg │ ├── RobotLocalVelocity.msg │ └── State2D.msg └── package.xml ├── consai_referee_parser ├── CMakeLists.txt ├── consai_referee_parser │ ├── __init__.py │ ├── main.py │ ├── referee_parser_node.py │ └── referee_to_vis_msg.py └── package.xml ├── consai_robot_control_utils ├── README.md ├── consai_robot_control_utils │ ├── __init__.py │ └── speedcontrol_test.py ├── gain_set.sh ├── launch │ ├── rqt_plot.launch.py │ └── visualizer.launch.py ├── package.xml ├── profile │ ├── ac_1.5.csv │ ├── ac_2.0.csv │ ├── ac_2.5.csv │ ├── rotation_4sec.csv │ ├── trapezoid_max0.8.csv │ └── zo-kin_max1.2m_s.csv ├── resource │ └── consai_robot_control_utils ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── consai_robot_controller ├── CMakeLists.txt ├── README.md ├── include │ └── consai_robot_controller │ │ ├── constraint_parser.hpp │ │ ├── control_params.hpp │ │ ├── controller_component.hpp │ │ ├── controller_unit.hpp │ │ ├── detection_extractor.hpp │ │ ├── field_info_parser.hpp │ │ ├── global_for_debug.hpp │ │ ├── grsim_command_converter.hpp │ │ ├── locomotion_controller.hpp │ │ ├── obstacle │ │ ├── obstacle_ball.hpp │ │ ├── obstacle_environment.hpp │ │ ├── obstacle_observer.hpp │ │ ├── obstacle_robot.hpp │ │ ├── obstacle_typedef.hpp │ │ └── prohibited_area.hpp │ │ ├── tactic │ │ ├── back_dribble_tactics.hpp │ │ ├── ball_boy_tactics.hpp │ │ ├── dribble_tactics.hpp │ │ ├── shoot_tactics.hpp │ │ ├── tactic_control_ball.hpp │ │ ├── tactic_data_set.hpp │ │ └── tactic_obstacle_avoidance.hpp │ │ ├── tools │ │ └── control_tools.hpp │ │ ├── trajectory │ │ ├── bangbangtrajectory1d.hpp │ │ ├── bangbangtrajectory2d.hpp │ │ ├── bangbangtrajectory3d.hpp │ │ ├── collision.hpp │ │ ├── field.hpp │ │ ├── obstacle.hpp │ │ ├── trajectory.hpp │ │ ├── trajectory_planner.hpp │ │ └── utils.hpp │ │ ├── trajectory_follow_control.hpp │ │ ├── trajectory_generator.hpp │ │ ├── visibility_control.h │ │ └── visualization_data_handler.hpp ├── launch │ └── controller.launch.py ├── package.xml ├── src │ ├── bangbangtrajectory1d.cpp │ ├── bangbangtrajectory2d.cpp │ ├── bangbangtrajectory3d.cpp │ ├── constraint_parser.cpp │ ├── control_params.cpp │ ├── controller_component.cpp │ ├── controller_unit.cpp │ ├── detection_extractor.cpp │ ├── field_info_parser.cpp │ ├── global_for_debug.cpp │ ├── grsim_command_converter.cpp │ ├── locomotion_controller.cpp │ ├── obstacle │ │ └── obstacle_observer.cpp │ ├── tactic │ │ ├── back_dribble_tactics.cpp │ │ ├── ball_boy_tactics.cpp │ │ ├── dribble_tactics.cpp │ │ ├── shoot_tactics.cpp │ │ ├── tactic_control_ball.cpp │ │ └── tactic_obstacle_avoidance.cpp │ ├── tools │ │ └── control_tools.cpp │ ├── trajectory.cpp │ ├── trajectory_follow_control.cpp │ ├── trajectory_generator.cpp │ ├── utils.cpp │ └── visualization_data_handler.cpp └── test │ ├── control_tools_test.cpp │ ├── obstacle_environment_test.cpp │ └── obstacle_observer_test.cpp ├── consai_tools ├── CMakeLists.txt ├── consai_tools │ ├── __init__.py │ ├── geometry │ │ ├── __init__.py │ │ └── geometry_tools.py │ ├── hasher │ │ ├── __init__.py │ │ ├── constraint_hasher.py │ │ └── robot_control_hasher.py │ └── hysteresis │ │ ├── __init__.py │ │ └── hysteresis.py ├── include │ └── consai_tools │ │ └── geometry_tools.hpp ├── package.xml ├── src │ └── geometry_tools.cpp └── tests │ ├── cpp │ └── test_geometry_tools.cpp │ ├── test_constraint_hasher.py │ ├── test_geometry_tools.py │ ├── test_hysteresis.py │ └── test_robot_control_hasher.py ├── consai_vision_tracker ├── CMakeLists.txt ├── README.md ├── include │ └── consai_vision_tracker │ │ ├── ball_tracker.hpp │ │ ├── robot_tracker.hpp │ │ ├── tracker_component.hpp │ │ ├── visibility_control.h │ │ └── visualization_data_handler.hpp ├── launch │ └── test.launch.py ├── package.xml └── src │ ├── ball_tracker.cpp │ ├── robot_tracker.cpp │ ├── tracker_component.cpp │ └── visualization_data_handler.cpp ├── consai_visualizer ├── CMakeLists.txt ├── README.md ├── default_consai_visualizer_settings.json ├── memo.md ├── package.xml ├── plugin.xml ├── resource │ └── visualizer.ui ├── scripts │ └── consai_visualizer └── src │ └── consai_visualizer │ ├── __init__.py │ ├── field_widget.py │ └── visualizer.py ├── consai_visualizer_msgs ├── CMakeLists.txt ├── msg │ ├── Color.msg │ ├── Objects.msg │ ├── Point.msg │ ├── ShapeAnnotation.msg │ ├── ShapeArc.msg │ ├── ShapeCircle.msg │ ├── ShapeLine.msg │ ├── ShapePoint.msg │ ├── ShapeRectangle.msg │ ├── ShapeRobot.msg │ ├── ShapeText.msg │ └── ShapeTube.msg └── package.xml ├── consai_web_ui └── consai_web_ui │ ├── .eslintrc.json │ ├── .gitignore │ ├── README.md │ ├── components │ ├── RosConnection.tsx │ └── birdview │ │ ├── ball.tsx │ │ ├── birdview.tsx │ │ ├── detectionTracked.tsx │ │ ├── field.tsx │ │ └── robot.tsx │ ├── next.config.mjs │ ├── package-lock.json │ ├── package.json │ ├── pages │ ├── _app.tsx │ ├── _document.tsx │ ├── api │ │ └── hello.ts │ └── index.tsx │ ├── public │ ├── favicon.ico │ ├── next.svg │ └── vercel.svg │ ├── tsconfig.json │ └── utils │ └── vectors.ts ├── hooks ├── run_ament_black.sh ├── run_ament_cpplint.sh ├── run_ament_flake8.sh ├── run_ament_pep257.sh └── run_ament_uncrustify.sh ├── pyproject.toml ├── resources ├── consai_visualizer.png ├── download_log.png └── download_log_player.png ├── robocup_ssl_comm ├── CMakeLists.txt ├── README.md ├── include │ └── robocup_ssl_comm │ │ ├── game_controller_component.hpp │ │ ├── grsim_component.hpp │ │ ├── multicast.hpp │ │ ├── udp_sender.hpp │ │ ├── visibility_control.h │ │ └── vision_component.hpp ├── launch │ └── test.launch.py ├── package.xml └── src │ ├── game_controller_component.cpp │ ├── grsim_component.cpp │ └── vision_component.cpp ├── robocup_ssl_msgs ├── CMakeLists.txt ├── msg │ ├── detection │ │ ├── DetectionBall.msg │ │ ├── DetectionFrame.msg │ │ └── DetectionRobot.msg │ ├── detection_tracked │ │ ├── KickedBall.msg │ │ ├── RobotId.msg │ │ ├── TrackedBall.msg │ │ ├── TrackedFrame.msg │ │ ├── TrackedRobot.msg │ │ ├── Vector2.msg │ │ └── Vector3.msg │ ├── geometry │ │ ├── BallModelChipFixedLoss.msg │ │ ├── BallModelStraightTwoPhase.msg │ │ ├── FieldCircularArc.msg │ │ ├── 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