diff --git a/.github/workflows/test_pytest.yml b/.github/workflows/test_pytest.yml
index 46253afa7..8ad3ae93e 100644
--- a/.github/workflows/test_pytest.yml
+++ b/.github/workflows/test_pytest.yml
@@ -52,9 +52,9 @@ jobs:
         run: |
           cd $HOME/catkin_ws/src/soccerbot
           source /opt/ros/noetic/setup.bash
-          pip3 install pyOpenSSL==23.0.0
+          pip install pyOpenSSL==23.0.0
           python3 -m pip install -U --user pip
-          pip3 install -r requirements.txt -f https://download.pytorch.org/whl/torch/ -f https://download.pytorch.org/whl/torchvision/
+          pip install -r tools/setup/requirements.txt
       - name: Build Soccerbot
         run: |
           cd $HOME/catkin_ws
diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
index 68d859ddf..4175bbe75 100644
--- a/.idea/inspectionProfiles/Project_Default.xml
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -1,14 +1,20 @@
 <component name="InspectionProjectProfileManager">
   <profile version="1.0">
     <option name="myName" value="Project Default" />
-    <inspection_tool class="Eslint" enabled="true" level="WARNING" enabled_by_default="true" />
     <inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
       <option name="ignoredPackages">
         <value>
-          <list size="3">
-            <item index="0" class="java.lang.String" itemvalue="numpy" />
-            <item index="1" class="java.lang.String" itemvalue="requests" />
-            <item index="2" class="java.lang.String" itemvalue="timeout_decorator" />
+          <list size="10">
+            <item index="0" class="java.lang.String" itemvalue="timeout_decorator" />
+            <item index="1" class="java.lang.String" itemvalue="ipython" />
+            <item index="2" class="java.lang.String" itemvalue="yaml" />
+            <item index="3" class="java.lang.String" itemvalue="importlib-resources" />
+            <item index="4" class="java.lang.String" itemvalue="zope-interface" />
+            <item index="5" class="java.lang.String" itemvalue="pytest" />
+            <item index="6" class="java.lang.String" itemvalue="wrapt" />
+            <item index="7" class="java.lang.String" itemvalue="types-psutil" />
+            <item index="8" class="java.lang.String" itemvalue="msgpack" />
+            <item index="9" class="java.lang.String" itemvalue="virtualenv" />
           </list>
         </value>
       </option>
@@ -16,10 +22,16 @@
     <inspection_tool class="PyPep8NamingInspection" enabled="true" level="WEAK WARNING" enabled_by_default="true">
       <option name="ignoredErrors">
         <list>
-          <option value="N806" />
           <option value="N803" />
         </list>
       </option>
     </inspection_tool>
+    <inspection_tool class="PyUnresolvedReferencesInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ignoredIdentifiers">
+        <list>
+          <option value="property.*" />
+        </list>
+      </option>
+    </inspection_tool>
   </profile>
 </component>
\ No newline at end of file
diff --git a/.idea/soccerbot.iml b/.idea/soccerbot.iml
index 08e9ae645..5fdd65ba2 100644
--- a/.idea/soccerbot.iml
+++ b/.idea/soccerbot.iml
@@ -1,18 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$">
-      <sourceFolder url="file://$MODULE_DIR$/soccer_common/src" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/soccer_control/soccer_pycontrol/src" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/soccer_control/soccer_trajectories/src" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/soccer_hardware/soccer_firmware_interface/src" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/soccer_perception/soccer_localization/src" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/soccer_perception/soccer_object_detection/src" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/soccer_perception/soccer_object_localization/src" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/soccer_strategy/src" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/soccer_webots/src" isTestSource="false" />
-    </content>
-    <orderEntry type="jdk" jdkName="Python 3.8" jdkType="Python SDK" />
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
   <component name="PyDocumentationSettings">
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
new file mode 100644
index 000000000..0ddf6b10e
--- /dev/null
+++ b/.idea/workspace.xml
@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="AutoImportSettings">
+    <option name="autoReloadType" value="SELECTIVE" />
+  </component>
+  <component name="ChangeListManager">
+    <list default="true" id="1718606a-6ea1-4edd-a178-2f51136d492a" name="Changes" comment="">
+      <change beforePath="$PROJECT_DIR$/.github/workflows/test_pytest.yml" beforeDir="false" afterPath="$PROJECT_DIR$/.github/workflows/test_pytest.yml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/.gitignore" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/inspectionProfiles/Project_Default.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/inspectionProfiles/Project_Default.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/soccerbot.iml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/soccerbot.iml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/README.md" beforeDir="false" afterPath="$PROJECT_DIR$/README.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/external/hlvs_webots" beforeDir="false" afterPath="$PROJECT_DIR$/external/hlvs_webots" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/external/hlvs_webots/worlds/.robocup.wbproj" beforeDir="false" afterPath="$PROJECT_DIR$/external/hlvs_webots/worlds/.robocup.wbproj" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/pyproject.toml" beforeDir="false" afterPath="$PROJECT_DIR$/pyproject.toml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/tools/docker/Dockerfile" beforeDir="false" afterPath="$PROJECT_DIR$/tools/docker/Dockerfile" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/tools/docker/compose.autonomy.yaml" beforeDir="false" afterPath="$PROJECT_DIR$/tools/docker/compose.autonomy.yaml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/tools/setup/requirements.txt" beforeDir="false" afterPath="$PROJECT_DIR$/tools/setup/requirements.txt" afterDir="false" />
+    </list>
+    <option name="SHOW_DIALOG" value="false" />
+    <option name="HIGHLIGHT_CONFLICTS" value="true" />
+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
+  </component>
+  <component name="FlaskConsoleOptions" custom-start-script="import sys&#10;sys.path.extend([WORKING_DIR_AND_PYTHON_PATHS])&#10;from flask.cli import ScriptInfo&#10;locals().update(ScriptInfo(create_app=None).load_app().make_shell_context())&#10;print(&quot;Python %s on %s\nApp: %s [%s]\nInstance: %s&quot; % (sys.version, sys.platform, app.import_name, app.env, app.instance_path))">
+    <envs>
+      <env key="FLASK_APP" value="app" />
+    </envs>
+    <option name="myCustomStartScript" value="import sys&#10;sys.path.extend([WORKING_DIR_AND_PYTHON_PATHS])&#10;from flask.cli import ScriptInfo&#10;locals().update(ScriptInfo(create_app=None).load_app().make_shell_context())&#10;print(&quot;Python %s on %s\nApp: %s [%s]\nInstance: %s&quot; % (sys.version, sys.platform, app.import_name, app.env, app.instance_path))" />
+    <option name="myEnvs">
+      <map>
+        <entry key="FLASK_APP" value="app" />
+      </map>
+    </option>
+  </component>
+  <component name="Git.Settings">
+    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+  </component>
+  <component name="ProjectColorInfo">{
+  &quot;associatedIndex&quot;: 6
+}</component>
+  <component name="ProjectId" id="2nDMBVvAj45ifzi94dRbsJluLlr" />
+  <component name="ProjectViewState">
+    <option name="hideEmptyMiddlePackages" value="true" />
+    <option name="showLibraryContents" value="true" />
+  </component>
+  <component name="PropertiesComponent"><![CDATA[{
+  "keyToString": {
+    "RunOnceActivity.ShowReadmeOnStart": "true",
+    "git-widget-placeholder": "master",
+    "last_opened_file_path": "/home/jonathan/catkin_ws/src/soccerbot",
+    "node.js.detected.package.eslint": "true",
+    "node.js.detected.package.tslint": "true",
+    "node.js.selected.package.eslint": "(autodetect)",
+    "node.js.selected.package.tslint": "(autodetect)",
+    "nodejs_package_manager_path": "npm",
+    "settings.editor.selected.configurable": "com.jetbrains.python.configuration.PyActiveSdkModuleConfigurable",
+    "vue.rearranger.settings.migration": "true"
+  }
+}]]></component>
+  <component name="SharedIndexes">
+    <attachedChunks>
+      <set>
+        <option value="bundled-js-predefined-d6986cc7102b-5c90d61e3bab-JavaScript-PY-242.23339.19" />
+        <option value="bundled-python-sdk-0029f7779945-399fe30bd8c1-com.jetbrains.pycharm.pro.sharedIndexes.bundled-PY-242.23339.19" />
+      </set>
+    </attachedChunks>
+  </component>
+  <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
+  <component name="TaskManager">
+    <task active="true" id="Default" summary="Default task">
+      <changelist id="1718606a-6ea1-4edd-a178-2f51136d492a" name="Changes" comment="" />
+      <created>1728503058115</created>
+      <option name="number" value="Default" />
+      <option name="presentableId" value="Default" />
+      <updated>1728503058115</updated>
+      <workItem from="1728503059152" duration="12358000" />
+      <workItem from="1729000188288" duration="5359000" />
+      <workItem from="1729089453199" duration="7376000" />
+    </task>
+    <servers />
+  </component>
+  <component name="TypeScriptGeneratedFilesManager">
+    <option name="version" value="3" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/README.md b/README.md
index 93c9fa711..7e2a549aa 100644
--- a/README.md
+++ b/README.md
@@ -96,3 +96,7 @@ https://github.com/dfki-ric/phobos/commit/757d7b58b41240ea4aa54e20ddd1665072e6da
 rosrun xacro xacro -o bez2.urdf bez2.xacro
 
 todo look into xrdp remote desktop
+uv pip install -r tools/setup/requirements.txt --python $(which python) --prefix $(python -m site --user-base)
+
+to compare
+uv pip install -r tools/setup/requirements.txt --python $(which python) --prefix $(python -m site --user-base) --no-cache-dir --force-reinstall
diff --git a/.idea/.gitignore b/soccer_hardware/soccer_firmware/.idea/.gitignore
similarity index 100%
rename from .idea/.gitignore
rename to soccer_hardware/soccer_firmware/.idea/.gitignore
diff --git a/soccer_hardware/soccer_firmware/.idea/editor.xml b/soccer_hardware/soccer_firmware/.idea/editor.xml
new file mode 100644
index 000000000..46540dab3
--- /dev/null
+++ b/soccer_hardware/soccer_firmware/.idea/editor.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BackendCodeEditorSettings">
+    <option name="/Default/Housekeeping/GlobalSettingsUpgraded/IsUpgraded/@EntryValue" value="true" type="bool" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/soccer_hardware/soccer_firmware/.idea/misc.xml b/soccer_hardware/soccer_firmware/.idea/misc.xml
new file mode 100644
index 000000000..79b3c9483
--- /dev/null
+++ b/soccer_hardware/soccer_firmware/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+</project>
\ No newline at end of file
diff --git a/soccer_hardware/soccer_firmware/.idea/modules.xml b/soccer_hardware/soccer_firmware/.idea/modules.xml
new file mode 100644
index 000000000..9d298b599
--- /dev/null
+++ b/soccer_hardware/soccer_firmware/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/soccer_firmware.iml" filepath="$PROJECT_DIR$/.idea/soccer_firmware.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/soccer_hardware/soccer_firmware/.idea/soccer_firmware.iml b/soccer_hardware/soccer_firmware/.idea/soccer_firmware.iml
new file mode 100644
index 000000000..f08604bb6
--- /dev/null
+++ b/soccer_hardware/soccer_firmware/.idea/soccer_firmware.iml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CMake" type="CPP_MODULE" version="4" />
\ No newline at end of file
diff --git a/soccer_hardware/soccer_firmware/.idea/vcs.xml b/soccer_hardware/soccer_firmware/.idea/vcs.xml
new file mode 100644
index 000000000..af3825907
--- /dev/null
+++ b/soccer_hardware/soccer_firmware/.idea/vcs.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/GameController" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/hlvs_webots" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/webots" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/webots/projects/robots/mobsya/thymio/controllers/thymio2_aseba/aseba" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/webots/projects/robots/mobsya/thymio/controllers/thymio2_aseba/aseba/dashel" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/webots/projects/robots/mobsya/thymio/controllers/thymio2_aseba/aseba/enki" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/webots/projects/robots/mobsya/thymio/libraries/dashel-src" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/webots/resources/webots_ros" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/webots/src/glm" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/webots/src/stb" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../external/yolov5" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file