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Improve FreeKickPlay behaviour and convert it to use FSMs #2953

Merged
merged 256 commits into from
Jul 16, 2024
Merged

Improve FreeKickPlay behaviour and convert it to use FSMs #2953

merged 256 commits into from
Jul 16, 2024
This pull request is big! We’re only showing the most recent 250 commits.

Commits on May 22, 2023

  1. testing

    @sauravbanna
    sauravbanna committed May 22, 2023
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Commits on May 26, 2023

  1. testing

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    sauravbanna committed May 26, 2023
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  2. test

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    sauravbanna committed May 26, 2023
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Commits on May 27, 2023

  1. fix

    @sauravbanna
    sauravbanna committed May 27, 2023
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  2. fixed cost function

    @sauravbanna
    sauravbanna committed May 27, 2023
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  3. formatting

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  4. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost

� Conflicts:
�	src/software/thunderscope/thunderscope.py
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  5. fix

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  6. test

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    sauravbanna committed May 27, 2023
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Commits on May 28, 2023

  1. test

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Commits on Jun 3, 2023

  1. test

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  2. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost
    @sauravbanna
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  3. fix tests

    @sauravbanna
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  4. formatting + docs

    @sauravbanna
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  5. formatting + docs

    @sauravbanna
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Commits on Jun 12, 2023

  1. test

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  2. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost
    @sauravbanna
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Commits on Jun 13, 2023

  1. test

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    sauravbanna committed Jun 13, 2023
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Commits on Jun 16, 2023

  1. added tests for backward passes

    @sauravbanna
    sauravbanna committed Jun 16, 2023
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  2. uncomment + formatting

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    sauravbanna committed Jun 16, 2023
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  3. docs

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    sauravbanna committed Jun 16, 2023
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  4. fix

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    sauravbanna committed Jun 16, 2023
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Commits on Jun 17, 2023

  1. added new field tets for passing

    @sauravbanna
    sauravbanna committed Jun 17, 2023
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  2. fix

    @sauravbanna
    sauravbanna committed Jun 17, 2023
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Commits on Jun 18, 2023

  1. fixed tests

    @sauravbanna
    sauravbanna committed Jun 18, 2023
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Commits on Jun 24, 2023

  1. fix

    @sauravbanna
    sauravbanna committed Jun 24, 2023
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  2. fix

    @sauravbanna
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  3. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost

� Conflicts:
�	src/software/ai/hl/stp/tactic/kick/kick_fsm.cpp
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  4. fix tests

    @sauravbanna
    sauravbanna committed Jun 24, 2023
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  5. fix?

    @sauravbanna
    sauravbanna committed Jun 24, 2023
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  6. fix?

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    sauravbanna committed Jun 24, 2023
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Commits on Jun 26, 2023

  1. Fix free kick passing

    @raymond212
    raymond212 committed Jun 26, 2023
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  2. Implement shooting behavior if possible

    @raymond212
    raymond212 committed Jun 26, 2023
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  3. Move free kick play to new folder

    @raymond212
    raymond212 committed Jun 26, 2023
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  4. Fix build file

    @raymond212
    raymond212 committed Jun 26, 2023
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Commits on Jun 27, 2023

  1. Merge branch 'master' of github.com:UBC-Thunderbots/Software into ray… 

    …mond/fix_free_kick
    @raymond212
    raymond212 committed Jun 27, 2023
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  2. Convert FreeKickPlay to use FSMs

    @raymond212
    raymond212 committed Jun 27, 2023
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  3. Remove unused imports

    @raymond212
    raymond212 committed Jun 27, 2023
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Commits on Jun 28, 2023

  1. wip

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    raymond212 committed Jun 28, 2023
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  2. wip

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    raymond212 committed Jun 28, 2023
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  3. Revert changes to free kick test

    @raymond212
    raymond212 committed Jun 28, 2023
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Commits on Jun 29, 2023

  1. fix tests

    @sauravbanna
    sauravbanna committed Jun 29, 2023
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Commits on Jun 30, 2023

  1. Add docs

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Commits on Jul 3, 2023

  1. Improve commenting

    @raymond212
    raymond212 committed Jul 3, 2023
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  2. Delete extra newline

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    raymond212 committed Jul 3, 2023
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  3. Initialize constants in header file

    @raymond212
    raymond212 committed Jul 3, 2023
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  4. Improve log for free kick passing

    @raymond212
    raymond212 committed Jul 3, 2023
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  5. Start moving pass receivers earlier

    @raymond212
    raymond212 committed Jul 3, 2023
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  6. Fix formatting

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    raymond212 committed Jul 3, 2023
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Commits on Oct 14, 2023

  1. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost

# Conflicts:
#	src/software/field_tests/field_test_fixture.py
#	src/software/simulated_tests/ball_moves_forward.py
    @sauravbanna
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Commits on Oct 28, 2023

  1. Add docs

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  2. Undo change in pytest

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Commits on Nov 19, 2023

  1. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost
    @sauravbanna
    sauravbanna committed Nov 19, 2023
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Commits on Feb 3, 2024

  1. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost
    @sauravbanna
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  2. [pre-commit.ci lite] apply automatic fixes

    @pre-commit-ci-lite
    pre-commit-ci-lite[bot] authored Feb 3, 2024
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  3. implemented new pass changes

    @sauravbanna
    sauravbanna committed Feb 3, 2024
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  4. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost
    @sauravbanna
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  5. Merge branch 'saurav_banna/pass_speed_cost' of github.com:sauravbanna… 

    …/Thunderbots-Software into saurav_banna/pass_speed_cost
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  6. fix

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    sauravbanna committed Feb 3, 2024
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Commits on Feb 4, 2024

  1. removed unecessary changes

    @sauravbanna
    sauravbanna committed Feb 4, 2024
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  2. [pre-commit.ci lite] apply automatic fixes

    @pre-commit-ci-lite
    pre-commit-ci-lite[bot] authored Feb 4, 2024
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  3. formatting

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Commits on Feb 10, 2024

  1. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost
    @sauravbanna
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  2. Merge branch 'saurav_banna/pass_speed_cost' of github.com:sauravbanna… 

    …/Thunderbots-Software into saurav_banna/pass_speed_cost
    @sauravbanna
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  3. fix types

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    sauravbanna committed Feb 10, 2024
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Commits on Feb 11, 2024

  1. fix

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    sauravbanna committed Feb 11, 2024
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  2. testing changes

    @sauravbanna
    sauravbanna committed Feb 11, 2024
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  3. fix

    @sauravbanna
    sauravbanna committed Feb 11, 2024
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  4. [pre-commit.ci lite] apply automatic fixes

    @pre-commit-ci-lite
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  5. removed unecessary changes

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    sauravbanna committed Feb 11, 2024
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Commits on Feb 12, 2024

  1. WIP error with map brace initialization in play.cpp

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Commits on Feb 13, 2024

  1. Visualize shapes in debug layer

    @nimazareian
    nimazareian committed Feb 13, 2024
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  2. Visualize other shapes

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    nimazareian committed Feb 13, 2024
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Commits on Feb 14, 2024

  1. todo

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  2. fix

    @sauravbanna
    sauravbanna committed Feb 14, 2024
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  3. Revert "fix" 

    This reverts commit 7b127db.
    @sauravbanna
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  4. merge

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  5. [pre-commit.ci lite] apply automatic fixes

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  6. formatting

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  7. Merge branch 'saurav_banna/pass_speed_cost' of 

    github.com:sauravbanna/Thunderbots-Software into
saurav_banna/pass_speed_cost
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  8. fix bug

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    sauravbanna committed Feb 14, 2024
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Commits on Feb 17, 2024

  1. Update to use map and visualize 3 shapes

    @nimazareian
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  2. clean up

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  3. formatting

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  4. cleanup

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  5. fix

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  6. bug

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Commits on Feb 20, 2024

  1. Cleanup parameter names

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  2. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into nima/tscope_debug_layer

� Conflicts:
�	src/software/thunderscope/widget_setup_functions.py
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Commits on Mar 10, 2024

  1. merge

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  2. [pre-commit.ci lite] apply automatic fixes

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Commits on Mar 14, 2024

  1. fix tests

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  2. Merge branch 'saurav_banna/pass_speed_cost' of github.com:sauravbanna… 

    …/Thunderbots-Software into saurav_banna/pass_speed_cost
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  3. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost
    @sauravbanna
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  4. [pre-commit.ci lite] apply automatic fixes

    @pre-commit-ci-lite
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Commits on Mar 15, 2024

  1. merge

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  2. Merge branch 'saurav_banna/pass_speed_cost' of github.com:sauravbanna… 

    …/Thunderbots-Software into saurav_banna/pass_speed_cost
    @sauravbanna
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  3. fix build

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Commits on Mar 16, 2024

  1. test

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  2. fix

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Commits on Mar 20, 2024

  1. fix

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  2. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/pass_speed_cost
    @sauravbanna
    sauravbanna committed Mar 20, 2024
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Commits on Mar 21, 2024

  1. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into nima/tscope_debug_layer
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    nimazareian committed Mar 21, 2024
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Commits on Mar 23, 2024

  1. merge

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    sauravbanna committed Mar 23, 2024
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  2. address comments

    @sauravbanna
    sauravbanna committed Mar 23, 2024
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  3. [pre-commit.ci lite] apply automatic fixes

    @pre-commit-ci-lite
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Commits on Mar 30, 2024

  1. merge + fix

    @sauravbanna
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  2. Merge branch 'saurav_banna/pass_speed_cost' of github.com:sauravbanna… 

    …/Thunderbots-Software into saurav_banna/pass_speed_cost
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  3. new sampling pass generator

    @sauravbanna
    sauravbanna committed Mar 30, 2024
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Commits on Mar 31, 2024

  1. Initial jank working implementation

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  2. Merge remote-tracking branch 'origin/nima/tscope_debug_layer' into ni… 

    …ma/receiver_position_generator
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  3. updated rateZoneSmart based on previous implementation. Should visual… 

    …ize and check
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  4. Not sure why there's no pass cost viz

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  5. fixing stuff

    @sauravbanna
    sauravbanna committed Mar 31, 2024
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Commits on Apr 6, 2024

  1. fix bug

    @sauravbanna
    sauravbanna committed Apr 6, 2024
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Commits on Apr 29, 2024

  1. rewrite compiles but doesn't work. pulled master

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Commits on Apr 30, 2024

  1. Fix bug

    @nimazareian
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  2. tune some constants, update viz, and formatting

    @nimazareian
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  3. updated recv rating and added some code.

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  4. spread out receivers

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  5. freeze layers if sim paused

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  6. Update debug shapes to include unique ID

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Commits on May 3, 2024

  1. wip

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Commits on May 4, 2024

  1. Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau… 

    …rav_banna/sampling_passes
    @sauravbanna
    sauravbanna committed May 4, 2024
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  2. fix heatmap visualization

    @nimazareian
    nimazareian committed May 4, 2024
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  3. cleanup and additional fixed

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Commits on May 5, 2024

  1. Update some parameter constants + fix calculateInterceptRisk

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  2. Merge prev changes

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  3. Update calculateInterceptRisk and ratePassShootScore

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Commits on May 6, 2024

  1. fix typo

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  2. merge saurav's old changes

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  3. changes

    @sauravbanna
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  4. Merge latest saurav changes

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Commits on May 7, 2024

  1. Keepaway doesn't look away unless in risk, receiver positions are spr… 

    …ead out better,
    @nimazareian
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  2. add simulation speed control

    @nimazareian
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  3. Fix abort pass constants which improves one touch kick chance. Update… 

    … pass visualization colors if comitted
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  4. Update variable sim speed to use qmenu

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Commits on May 8, 2024

  1. add ReceiverTacticConfig

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  2. Receivers position themselves based on pass destination for passes in… 

    … flight
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  3. Remove unnecessary check in AttackerFSM::shouldKick

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  4. Update freekick play

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  5. Use Pass::fromDestReceiveSpeed

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  6. refactor keepaway cost functions and visualize them

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  7. Don't refresh layers if sim is paused

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  8. Added createAttackerVisualization proto. Need to update tscope to vis… 

    …ualize it
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Commits on May 9, 2024

  1. Add gl_attacker_layer.py

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  2. Formatting

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  3. Add shortcut for changing sim speed

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  4. Add attacker tactic visualizations, thunderscope sim speed control, u… 

    …pdate debug shapes layer
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  5. Add function docs

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  6. merge changes in from PR

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Commits on May 10, 2024

  1. update calculateInterceptRisk and add constants to parameters.proto

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  2. Reorder parameters for passing for visualization and add new params f… 

    …or sampling_pass_generator.cpp
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Commits on May 19, 2024

  1. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into raymond/fix_free_kick
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Commits on May 22, 2024

  1. address comments + fix tests

    @sauravbanna
    sauravbanna committed May 22, 2024
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  2. fix

    @sauravbanna
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  3. fix

    @sauravbanna
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Commits on May 25, 2024

  1. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into raymond/fix_free_kick
    @raymond212
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  2. Delete CornerKickPlay

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  3. Use dynamic params, fix formatting

    @raymond212
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Commits on May 27, 2024

  1. Build with optimization flags by default and don't run under GDB by d… 

    …efault
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  2. Remove -o comment

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    nimazareian committed May 27, 2024
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  3. Support ignoring robots to pass to and Remove BasePassGenerator

    @nimazareian
    nimazareian committed May 27, 2024
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Commits on May 28, 2024

  1. Add score for open angle for ratePassShootScore

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  2. clean up ratePassShootScore and add constants to parameters.proto

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  3. Add passing config to most cost functions and cleanup. KeepAwayTest i… 

    …s failing
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Commits on May 29, 2024

  1. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into nima/receiver_position_generator2
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  2. Fix calculateProximityRisk

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  3. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into nima/receiver_position_generator2

# Conflicts:
#	src/extlibs/er_force_sim/src/amun/simulator/simball.cpp
#	src/extlibs/er_force_sim/src/amun/simulator/simrobot.cpp
#	src/proto/parameters.proto
#	src/shared/constants.h
#	src/software/ai/passing/cost_function.cpp
#	src/software/ai/passing/pass.cpp
#	src/software/ai/passing/pass.h
#	src/software/ai/passing/pass_generator.hpp
#	src/software/field_tests/passing_field_test.py
#	src/software/python_bindings.cpp
#	src/software/simulated_tests/ball_moves_in_direction.py
#	src/software/simulated_tests/friendly_has_ball_possession.py
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  4. Fix merge

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  5. Move more constants to parameters.proto Add documentation to receiver… 

    …_position_generator.hpp
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Commits on May 30, 2024

  1. Fix tests in cost_function_test.cpp and remove TODOs. Visualize addit… 

    …ional cost functions
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  2. Add tests for newly added cost functions

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  3. fix shoot_or_pass_play_fsm_test.cpp

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  4. add size check to shoot_or_pass_play_fsm.cpp

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  5. update attacker_tactic_keep_away_test.cpp to ignore checks

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  6. remove extra passing_sim_test.py due to bad merge

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Commits on May 31, 2024

  1. Merge nima/default_optimized_build

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  2. Fix formatting

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  3. Move debug pass visualizations to parameters.proto

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Commits on Jun 2, 2024

  1. WIP receiver_position_generator_test.cpp

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  2. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into raymond/fix_free_kick
    @raymond212
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  3. Fix formatting

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  4. Fix build file

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Commits on Jun 5, 2024

  1. Replace sampling_pass_generator with gradient_descent_pass_generator

    @nimazareian
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  2. Added ratePassNotTooClose and formatting

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  3. Update gradient_descent_pass_generator to store prev best passes per … 

    …robot
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  4. some cleanup

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Commits on Jun 6, 2024

  1. todo

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  2. Make sampling circle dynamic

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  3. some cleanup

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  4. formatting

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Commits on Jun 7, 2024

  1. cleanup receiver_position_generator

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  2. address some of the comments

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  3. Remove old pass gen code

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Commits on Jun 8, 2024

  1. Add tests for new pass gen

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  2. remove extra cost functions

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  3. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into nima/receiver_position_generator2

# Conflicts:
#	src/software/ai/hl/stp/play/BUILD
#	src/software/ai/play_selection_fsm.cpp
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  4. update ShootOrPassPlayFSM::passFound to stop the passes from being ab… 

    …orted early
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  5. Remove old TODOs

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  6. Revert Thunderscope changes

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  7. Some more cleanup

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  8. Add enemy_interception_time_multiplier

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    nimazareian committed Jun 8, 2024
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Commits on Jun 10, 2024

  1. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into nima/receiver_position_generator2

# Conflicts:
#	src/tbots.py
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    nimazareian committed Jun 10, 2024
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Commits on Jun 11, 2024

  1. wip fixes

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    nimazareian committed Jun 11, 2024
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  2. formatting

    @nimazareian
    nimazareian committed Jun 11, 2024
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  3. fix shoot or pass fsm test

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    nimazareian committed Jun 11, 2024
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Commits on Jun 12, 2024

  1. Addressing PR comments

    @nimazareian
    nimazareian committed Jun 12, 2024
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  2. Add tests for receiver_position_generator

    @nimazareian
    nimazareian committed Jun 12, 2024
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  3. Fix tests

    @nimazareian
    nimazareian committed Jun 12, 2024
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  4. cleanup

    @nimazareian
    nimazareian committed Jun 12, 2024
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  5. Re-enable old tests

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    nimazareian committed Jun 12, 2024
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Commits on Jun 14, 2024

  1. Use normalizeValueToRange

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    nimazareian committed Jun 14, 2024
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Commits on Jun 15, 2024

  1. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into nima/receiver_position_generator2
    @nimazareian
    nimazareian committed Jun 15, 2024
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Commits on Jun 17, 2024

  1. address some comments

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    nimazareian committed Jun 17, 2024
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Commits on Jun 18, 2024

  1. add TODO for ball model

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    nimazareian committed Jun 18, 2024
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Commits on Jun 21, 2024

  1. Remove dup comment

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    nimazareian committed Jun 21, 2024
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Commits on Jun 22, 2024

  1. Reserve play 5 to not break logs

    @raymond212
    raymond212 committed Jun 22, 2024
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  2. Merge branch 'master' of https://github.com/UBC-Thunderbots/Software … 

    …into raymond/fix_free_kick
    @raymond212
    raymond212 committed Jun 22, 2024
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  3. Add crease defenders, experiment with chip passing

    @raymond212
    raymond212 committed Jun 22, 2024
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  4. Chip towards enemy goal center

    @raymond212
    raymond212 committed Jun 22, 2024
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  5. Shoot ball at max speed

    @raymond212
    raymond212 committed Jun 22, 2024
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Commits on Jun 23, 2024

  1. fix bug in pytest sequenced eventual validations

    @nimazareian
    nimazareian committed Jun 23, 2024
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  2. Cleanup passing_sim_test.py and few small bug fixes

    @nimazareian
    nimazareian committed Jun 23, 2024
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  3. [pre-commit.ci lite] apply automatic fixes

    @pre-commit-ci-lite
    pre-commit-ci-lite[bot] authored Jun 23, 2024
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Commits on Jun 24, 2024

  1. disable shoot_or_pass_play_test.cpp again

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    nimazareian committed Jun 24, 2024
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Commits on Jun 25, 2024

  1. Merge branch 'refs/heads/nima/receiver_position_generator2' into nima… 

    …/new_free_kick

# Conflicts:
#	src/software/ai/hl/stp/play/BUILD
#	src/software/ai/hl/stp/play/free_kick_play.cpp
#	src/software/ai/hl/stp/play/free_kick_play.h
    @nimazareian
    nimazareian committed Jun 25, 2024
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Commits on Jun 27, 2024

  1. wip. should update get behind ball polygon and check speed

    @nimazareian
    nimazareian committed Jun 27, 2024
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  2. Update behind ball polygon and update kick/chip fsm

    @nimazareian
    nimazareian committed Jun 27, 2024
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  3. wip using defense play

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    nimazareian committed Jun 27, 2024
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Commits on Jun 28, 2024

  1. working impl of using defense play

    @nimazareian
    nimazareian committed Jun 28, 2024
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  2. formatting and update some logic

    @nimazareian
    nimazareian committed Jun 28, 2024
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  3. additional cleanup

    @nimazareian
    nimazareian committed Jun 28, 2024
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  4. remove extra ;

    @nimazareian
    nimazareian committed Jun 28, 2024
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  5. remove -0.5 kick speed

    @nimazareian
    nimazareian committed Jun 28, 2024
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  6. Add some basic validations for friendly freekick

    @nimazareian
    nimazareian committed Jun 28, 2024
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Commits on Jul 5, 2024

  1. remove extra logs

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    nimazareian committed Jul 5, 2024
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  2. update shouldRealignWithBall

    @nimazareian
    nimazareian committed Jul 5, 2024
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Commits on Jul 6, 2024

  1. use kick_origin instead of ball position

    @nimazareian
    nimazareian committed Jul 6, 2024
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  2. Fix tests

    @nimazareian
    nimazareian committed Jul 6, 2024
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  3. formatting

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    nimazareian committed Jul 6, 2024
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Commits on Jul 9, 2024

  1. Pull master

    @nimazareian
    nimazareian committed Jul 9, 2024
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  2. remove dup test from bad merge

    @nimazareian
    nimazareian committed Jul 9, 2024
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  3. Address comments

    @nimazareian
    nimazareian committed Jul 9, 2024
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  4. move constant

    @nimazareian
    nimazareian committed Jul 9, 2024
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  5. update where we align to, and update test validation

    @nimazareian
    nimazareian committed Jul 9, 2024
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  6. [pre-commit.ci lite] apply automatic fixes

    @pre-commit-ci-lite
    pre-commit-ci-lite[bot] authored Jul 9, 2024
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  7. address comment

    @nimazareian
    nimazareian committed Jul 9, 2024
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Commits on Jul 15, 2024

  1. pull master

    @nimazareian
    nimazareian committed Jul 15, 2024
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  2. update

    @nimazareian
    nimazareian committed Jul 15, 2024
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