├── .gitignore ├── Dockerfile ├── Makefile ├── README.md ├── algorithms ├── RRT │ ├── __init__.py │ ├── rrt.py │ └── rrtstar.py ├── __init__.py ├── astar │ ├── __init__.py │ ├── astar.py │ ├── fieldGraph.py │ └── pathAstar.py ├── dijkstra_waypoint │ ├── __init__.py │ ├── dijkstra.py │ └── waypoint.py ├── dwa │ └── dynamicWindowApproach.py └── potential_fields │ ├── __init__.py │ └── plotter.py ├── api ├── __init__.py ├── api_recv.py ├── info_api.py ├── new_api.py ├── parameters.py └── udp_sender.py ├── blue_team.json ├── comm ├── __init__.py ├── comm.py └── rl_comm.py ├── commons ├── __init__.py ├── math.py └── utils.py ├── config.json ├── config_real_life.json ├── controller ├── PID.py ├── PID_control.py ├── __init__.py ├── noController.py ├── simple_LQR.py ├── uni_controller.py └── visualizers │ ├── pid_tuner.py │ ├── plot_script.py │ └── run_visualizers.py ├── entities ├── Ball.py ├── Robot.py ├── __init__.py ├── coach │ ├── Backup.py │ ├── __init__.py │ ├── coach.py │ ├── guideCoach.py │ ├── rsm2025_attack.py │ ├── rsm2025_defend.py │ └── test_coach.py ├── plays │ ├── __init__.py │ └── playbook.py └── trainer │ ├── __init__.py │ ├── base_trainer.py │ └── circuit_run.py ├── enviroment.config ├── enviroment.dev.config ├── fields.json ├── fields ├── __init__.py └── field.py ├── foul_placements3v3.json ├── foul_placements5v5.json ├── live_plot ├── __init__.py ├── circuit_plot.py ├── live_plot_script.py ├── logger.py ├── plot_astar_map.py ├── plot_circuit.ipynb ├── plot_djisktra.py └── visualizer.py ├── main.py ├── main_real_life.py ├── match ├── __init__.py ├── match.py └── match_real_life.py ├── notebooks └── potential_fields_analysis.ipynb ├── protocols ├── __init__.py ├── command_pb2.py ├── common_pb2.py ├── packet_pb2.py ├── replacement_pb2.py ├── vssref_command_pb2.py ├── vssref_common_pb2.py └── vssref_placement_pb2.py ├── pyproject.toml ├── readme └── FiraSIM-comtab.png ├── requirements.txt ├── scripts └── run_firasim.sh ├── strategy ├── BaseStrategy.py ├── DebugTools.py ├── __init__.py ├── commons │ ├── Replacer.py │ └── __init__.py ├── rsm2025 │ ├── Attacker.py │ ├── Defender.py │ ├── Goalkeeper.py │ ├── GoalkeeperArch.py │ ├── SecondAttacker.py │ ├── SecondDefender.py │ └── __init__.py ├── tests │ ├── FIRATest.py │ ├── Idle.py │ ├── PID_attacker.py │ ├── PID_test.py │ ├── PID_tuner.py │ ├── __init__.py │ ├── asScratch2.py │ ├── attacker_rcx.py │ ├── dwaScratch.py │ ├── goFoward.py │ ├── goalkeeper_rcx.py │ ├── limit_cycle_test.py │ ├── midfieldercx.py │ ├── newAttacker.py │ ├── pathfinderTest.py │ ├── pfAttacker.py │ ├── pfGoalKeeper.py │ ├── pfMidFielder.py │ ├── pfScratch.py │ ├── potential_fields_test.py │ ├── uvf_attacker.py │ └── uvf_test.py └── utils │ ├── __init__.py │ └── player_playbook.py ├── vision ├── __init__.py └── vision.py └── yellow_team.json /.gitignore: -------------------------------------------------------------------------------- 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