Very late in the season for this but for offseason if any teams are interested I’ve put together a java framework (with a pinch of python) which handles simulation with supers, multiple apriltag feeds being blended for pose estimation, automatic auto option additions from pathplanner, built in advantage kit logging, & ML detection servers for teams using google corals if anyone is interested.
The whole goal of this is to bring high end features such as full field localization to newer or less experienced teams helping to open and free up a lot of the new progress that’s been made in FIRST in the past few years.
(github.com)