little update

.gitmodules

@@ -11,3 +11,7 @@
 [submodule "roboteam_robothub/roboteam_embedded_messages"]
 	path = roboteam_robothub/roboteam_embedded_messages
 	url = https://github.com/RoboTeamTwente/roboteam_embedded_messages.git
+[submodule "modules/tigers_sumatra"]
+	path = modules/tigers_sumatra
+	url = https://github.com/TIGERs-Mannheim/Sumatra.git
+	branch = master

docker/runner/docker-compose.yml

@@ -18,7 +18,7 @@ services:
       - LD_LIBRARY_PATH=/home/roboteamtwente/lib/
     volumes:
       - ../../build/release/:/home/roboteamtwente/
-    profiles: ["simulator","diff","game", "robocup"]
+    profiles: ["simulator","diff","game", "robocup", "RL"]
 
   roboteam_secondary_ai:
     image: roboteamtwente/roboteam:development
@@ -72,7 +72,7 @@ services:
       - LD_LIBRARY_PATH=/home/roboteamtwente/lib/
     volumes:
       - ../../build/release/:/home/roboteamtwente/
-    profiles: ["simulator","diff"]
+    profiles: ["simulator","diff", "RL"]
 
   roboteam_observer_game:
     image: roboteamtwente/roboteam:development
@@ -111,7 +111,7 @@ services:
       - LD_LIBRARY_PATH=/home/roboteamtwente/lib/
     volumes:
       - ../../build/release/:/home/roboteamtwente/
-    profiles: ["simulator","diff"]
+    profiles: ["simulator","diff", "RL"]
 
   roboteam_robothub_game:
     image: roboteamtwente/roboteam:development
@@ -147,7 +147,7 @@ services:
       - 8080:8080
     volumes:
       - ../../roboteam_interface/:/home/roboteamtwente/
-    profiles: ["simulator","diff","game", "robocup"]
+    profiles: ["simulator","diff","game", "robocup", "RL"]
 
   roboteam_autoref:
     image: gradle:8.4.0-jdk17
@@ -164,7 +164,7 @@ services:
       - GRADLE_USER_HOME=/home/roboteamtwente/.cache # Cache gradle dependencies
     volumes:
       - ../../roboteam_autoref/:/home/roboteamtwente/
-    profiles: ["simulator","diff","game","autoref"]
+    profiles: ["simulator","diff","game","autoref", "RL"]
 
   erforce_autoref_sim:
     image: roboteamtwente/roboteam:development
@@ -179,7 +179,7 @@ services:
       - 10010:10010 # Tracker port
     volumes:
       - ../../:/home/roboteamtwente/
-    profiles: ["simulator","diff"]
+    profiles: ["simulator","diff", "RL"]
 
   erforce_autoref_game:
     image: roboteamtwente/roboteam:development
@@ -201,7 +201,7 @@ services:
     container_name: RTT_erforce_simulator
     restart: always
     working_dir: "/home/roboteamtwente/external/framework/build/bin/"
-    command: sh -c "./simulator-cli"
+    command: sh -c "./simulator-cli --realism RC2021"
     network_mode: "host" # Workaround to connect from interface on host to AI websocket, please fix
     expose:
       - 10301:10301 #Blue Control Port
@@ -212,7 +212,7 @@ services:
       - 30013:30013 #Simulation Feedback Port
     volumes:
       - ../../:/home/roboteamtwente/
-    profiles: ["simulator","diff"]
+    profiles: ["simulator","diff", "RL"]
 
   ssl-game-controller:
     image: robocupssl/ssl-game-controller:latest
@@ -221,4 +221,4 @@ services:
     network_mode: "host" # Workaround to connect from interface on host to AI websocket, please fix
     ports:
       - "8081:8081/tcp" # UI port
-    profiles: ["simulator","diff","game"]
+    profiles: ["simulator","diff","game", "RL"]

roboteam_ai/include/roboteam_ai/stp/computations/PositionComputations.h

@@ -167,7 +167,7 @@ class PositionComputations {
      * @param robotId ID of the passer robot
      * @return Best position for the passer
      */
-    static Vector2 calculatePasserPosition(Vector2 currentPos, world::World* world, int robotId) noexcept;
+    static Vector2 calculatePasserPosition(Vector2 currentPos, world::World* world, int robotId, Vector2 initialBallPos) noexcept;
 
 
     /**

roboteam_ai/include/roboteam_ai/stp/tactics/active/SmoothPass.h

@@ -5,6 +5,11 @@
 namespace rtt::ai::stp::tactic {
 
 class SmoothPass : public Tactic {
+
+    private:
+        Vector2 initialBallPos;  // Store initial ball position
+        bool initialized{false};
+
    public:
     /**
      * @brief Constructor for the tactic, initializes skills state machine

roboteam_ai/include/roboteam_ai/utilities/Constants.h

@@ -45,7 +45,7 @@ constexpr double MAX_ANGULAR_VELOCITY = 6.0;  /**< Maximum allowed angular veloc
 constexpr double MIN_YAW = -M_PI;             /**< Minimum yaw the robot can have */
 constexpr double MAX_YAW = M_PI;              /**< Maximum yaw the robot can have */
 constexpr double MAX_ACC = 2.0;               /**< Maximum acceleration of the robot */
-constexpr double MAX_VEL = 2.0;               /**< Maximum allowed velocity of the robot */
+constexpr double MAX_VEL = 5.0;               /**< Maximum allowed velocity of the robot */
 constexpr double MAX_JERK_DEFAULT = 6;        /**< Default jerk limit */
 
 /// GoToPos Constants

roboteam_ai/src/stp/tactics/active/SmoothPass.cpp

@@ -23,32 +23,48 @@ std::optional<StpInfo> SmoothPass::calculateInfoForSkill(const StpInfo &info) no
         return skillStpInfo;
     }
 
+    // Store initial ball position when tactic first starts
+    if (!initialized) {
+        initialBallPos = info.getBall().value()->position;
+        initialized = true;
+    }
+
     auto currentPos = info.getRobot().value()->getPos();
     auto world = info.getCurrentWorld();
 
     if (world) {
-        // Use our new computation functions
-        Vector2 newPos = PositionComputations::calculatePasserPosition(currentPos, world, info.getRobot().value()->getId());
-        Angle newAngle = PositionComputations::calculatePasserAngle(currentPos, world);
+        Vector2 newPos = PositionComputations::calculatePasserPosition(currentPos, world, info.getRobot().value()->getId(), initialBallPos);
+        double angleToTarget = (info.getPositionToShootAt().value() - info.getRobot().value()->getPos()).angle();
 
         skillStpInfo.setPositionToMoveTo(newPos);
-        skillStpInfo.setYaw(newAngle);
+        skillStpInfo.setYaw(angleToTarget);
     }
 
     return skillStpInfo;
 }
 
 bool SmoothPass::isTacticFailing(const StpInfo &info) noexcept { 
-    return !info.getPositionToShootAt() || !info.getBall(); 
+    return !info.getPositionToShootAt() || 
+           !info.getBall() || 
+           !info.getRobot().value()->hasBall();  // Add this check
 }
 
 bool SmoothPass::shouldTacticReset(const StpInfo &info) noexcept {
-    // Reset if we've deviated too much from desired angle during orbit
-    if (skills.current_num() == 0) {  // During OrbitAndDrive
-        const auto errorMargin = constants::GO_TO_POS_ANGLE_ERROR_MARGIN * M_PI;
-        return info.getRobot().value()->getYaw().shortestAngleDiff(info.getYaw()) > errorMargin;
-    }
-    return false;
+    if (skills.current_num() != 0) return false;  // Only check during OrbitAndDrive
+
+    // Get current robot position and target position
+    auto robot = info.getRobot().value();
+    auto currentPos = robot->getPos();
+    auto targetPos = info.getPositionToMoveTo().value();
+
+    // Check angle deviation
+    const auto angleErrorMargin = constants::GO_TO_POS_ANGLE_ERROR_MARGIN * M_PI;
+    bool angleDeviated = robot->getYaw().shortestAngleDiff(info.getYaw()) > angleErrorMargin;
+
+    // Check position deviation
+    bool positionDeviated = (currentPos - targetPos).length() > constants::GO_TO_POS_ERROR_MARGIN;
+
+    return angleDeviated || positionDeviated;
 }
 
 bool SmoothPass::isEndTactic() noexcept {