Kyle Stachowicz

Otherwise it just doesn't draw

## Description If the ball is occluded, we shouldn't say that it has disappeared. Particularly if it's in the mouth of one of our robots. This was implemented in a...

Title

It's redundant given that we already have pivot kick and line kick skills.

This needs to happen in plays and in the GUI. Indirect kicks no longer exist per the rules.

There are lots of hardcoded points in gameplay. That's horrible and it's really not that hard to just use field dimensions.

Break geometry calculations out of gameplay_node.py

## Description We need to understand which topics have which QoS settings and make sure they are consistent, and also make sure transient local is doing what we expect. Fixing...

Fix curvature issues with Bezier path and re-enable curvature limiting

1

## Description Currently, our path smoothing code places Bezier waypoints at the endpoints when you have zero initial/final velocity. This creates numerical conditioning issues, which make curvature infinite near the...