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Division denotes the current division, which influences some rules

• DIV_UNKNOWN = 0

• DIV_A = 1

• DIV_B = 2

Move robot with global velocity

Used in: RobotMoveCommand

• required float x = 1

  Velocity on x-axis of the field [m/s]

• required float y = 2

  Velocity on y-axis of the field [m/s]

• required float angular = 3

  Angular velocity counter-clockwise [rad/s]

Move robot with local velocity

Used in: RobotMoveCommand

• required float forward = 1

  Velocity forward [m/s] (towards the dribbler)

• required float left = 2

  Velocity to the left [m/s]

• required float angular = 3

  Angular velocity counter-clockwise [rad/s]

Move robot with wheel velocities

Used in: RobotMoveCommand

• required float front_right = 1

  Velocity [m/s] of front right wheel

• required float back_right = 2

  Velocity [m/s] of back right wheel

• required float back_left = 3

  Velocity [m/s] of back left wheel

• required float front_left = 4

  Velocity [m/s] of front left wheel

Used in: SimulatorConfig

• optional google.protobuf.Any custom = 1

  Custom config for specific simulators (the protobuf files are managed by the simulators)

Full command for a single robot

Used in: RobotControl

• required uint32 id = 1

  Id of the robot

• optional RobotMoveCommand move_command = 2

  Movement command

• optional float kick_speed = 3

  Absolute (3 dimensional) kick speed [m/s]

• optional float kick_angle = 4

  Kick angle [degree] (defaults to 0 degrees for a straight kick)

• optional float dribbler_speed = 5

  Dribbler speed in rounds per minute [rpm]

Command from the connected client to the simulator

Used in: SimulationSyncRequest

• repeated RobotCommand robot_commands = 1

  Control the robots

Response to RobotControl from the simulator to the connected client

Used in: SimulationSyncResponse

• repeated SimulatorError errors = 1

  List of errors, like using unsupported features

• repeated RobotFeedback feedback = 2

  Feedback of the robots

Feedback from a robot

Used in: RobotControlResponse

• required uint32 id = 1

  Id of the robot

• optional bool dribbler_ball_contact = 2

  Has the dribbler contact to the ball right now

• optional google.protobuf.Any custom = 3

  Custom robot feedback for specific simulators (the protobuf files are managed by the simulators)

RobotId is the combination of a team and a robot id

Used in: RobotSpecs, TeleportRobot

• optional uint32 id = 1

  the robot number

• optional Team team = 2

  the team that the robot belongs to

Movement limits for a robot

Used in: RobotSpecs

• optional float acc_speedup_absolute_max = 1

  Max absolute speed-up acceleration [m/s^2]

• optional float acc_speedup_angular_max = 2

  Max angular speed-up acceleration [rad/s^2]

• optional float acc_brake_absolute_max = 3

  Max absolute brake acceleration [m/s^2]

• optional float acc_brake_angular_max = 4

  Max angular brake acceleration [rad/s^2]

• optional float vel_absolute_max = 5

  Max absolute velocity [m/s]

• optional float vel_angular_max = 6

  Max angular velocity [rad/s]

Wrapper for different kinds of movement commands

Used in: RobotCommand

• oneof command

  • MoveWheelVelocity wheel_velocity = 1

    Move with wheel velocities

  • MoveLocalVelocity local_velocity = 2

    Move with local velocity

  • MoveGlobalVelocity global_velocity = 3

    Move with global velocity

Specs of a robot

Used in: SimulatorConfig

• required RobotId id = 1

  Id of the robot

• optional float radius = 2

  Robot radius [m]

• optional float height = 3

  Robot height [m]

• optional float mass = 4

  Robot mass [kg]

• optional float max_linear_kick_speed = 7

  Max linear kick speed [m/s] (unset = unlimited)

• optional float max_chip_kick_speed = 8

  Max chip kick speed [m/s] (unset = unlimited)

• optional float center_to_dribbler = 9

  Distance from robot center to dribbler [m] (implicitly defines the opening angle and dribbler width)

• optional RobotLimits limits = 10

  Movement limits

• optional RobotWheelAngles wheel_angles = 13

  Wheel angle configuration

• optional google.protobuf.Any custom = 14

  Custom robot spec for specific simulators (the protobuf files are managed by the simulators)

Robot wheel angle configuration all angles are relative to looking forward, all wheels / angles are clockwise

Used in: RobotSpecs

• required float front_right = 1

  Angle front right [rad]

• required float back_right = 2

  Angle back right [rad]

• required float back_left = 3

  Angle back left [rad]

• required float front_left = 4

  Angle front left [rad]

Used in: Robots_Status

• required int32 robot_id = 1

• required bool infrared = 2

• required bool flat_kick = 3

• required bool chip_kick = 4

• repeated Robot_Status robots_status = 1

Fixed-Loss model for chipped balls. Uses fixed damping factors for xy and z direction per hop.

Used in: SSL_GeometryModels

• required double damping_xy_first_hop = 1

  Chip kick velocity damping factor in XY direction for the first hop

• required double damping_xy_other_hops = 2

  Chip kick velocity damping factor in XY direction for all following hops

• required double damping_z = 3

  Chip kick velocity damping factor in Z direction for all hops

Two-Phase model for straight-kicked balls. There are two phases with different accelerations during the ball kicks: 1. Sliding 2. Rolling The full model is described in the TDP of ER-Force from 2016, which can be found here: https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf

Used in: SSL_GeometryModels

• required double acc_slide = 1

  Ball sliding acceleration [m/s^2] (should be negative)

• required double acc_roll = 2

  Ball rolling acceleration [m/s^2] (should be negative)

• required double k_switch = 3

  Fraction of the initial velocity where the ball starts to roll

Used in: SSL_DetectionFrame

• required float confidence = 1

• optional uint32 area = 2

• required float x = 3

• required float y = 4

• optional float z = 5

• required float pixel_x = 6

• required float pixel_y = 7

Used in: SSL_WrapperPacket, SimulationSyncResponse

• required uint32 frame_number = 1

• required double t_capture = 2

• required double t_sent = 3

• required uint32 camera_id = 4

• repeated SSL_DetectionBall balls = 5

• repeated SSL_DetectionRobot robots_yellow = 6

• repeated SSL_DetectionRobot robots_blue = 7

Used in: SSL_DetectionFrame

• required float confidence = 1

• optional uint32 robot_id = 2

• required float x = 3

• required float y = 4

• optional float orientation = 5

• required float pixel_x = 6

• required float pixel_y = 7

• optional float height = 8

Represents a field marking as a circular arc segment represented by center point, a start angle, an end angle, and an arc thickness.

Used in: SSL_GeometryFieldSize

• required string name = 1

  Name of this field marking.

• required Vector2f center = 2

  Center point of the circular arc.

• required float radius = 3

  Radius of the arc.

• required float a1 = 4

  Start angle in counter-clockwise order.

• required float a2 = 5

  End angle in counter-clockwise order.

• required float thickness = 6

  Thickness of the arc.

• optional SSL_FieldShapeType type = 7

  The type of this shape

Represents a field marking as a line segment represented by a start point p1, and end point p2, and a line thickness. The start and end points are along the center of the line, so the thickness of the line extends by thickness / 2 on either side of the line.

Used in: SSL_GeometryFieldSize

• required string name = 1

  Name of this field marking.

• required Vector2f p1 = 2

  Start point of the line segment.

• required Vector2f p2 = 3

  End point of the line segment.

• required float thickness = 4

  Thickness of the line segment.

• optional SSL_FieldShapeType type = 5

  The type of this shape

Used in: SSL_FieldCircularArc, SSL_FieldLineSegment

• Undefined = 0

• CenterCircle = 1

• TopTouchLine = 2

• BottomTouchLine = 3

• LeftGoalLine = 4

• RightGoalLine = 5

• HalfwayLine = 6

• CenterLine = 7

• LeftPenaltyStretch = 8

• RightPenaltyStretch = 9

• LeftFieldLeftPenaltyStretch = 10

• LeftFieldRightPenaltyStretch = 11

• RightFieldLeftPenaltyStretch = 12

• RightFieldRightPenaltyStretch = 13

Used in: SSL_GeometryData

• required uint32 camera_id = 1

• required float focal_length = 2

• required float principal_point_x = 3

• required float principal_point_y = 4

• required float distortion = 5

• required float q0 = 6

• required float q1 = 7

• required float q2 = 8

• required float q3 = 9

• required float tx = 10

• required float ty = 11

• required float tz = 12

• optional float derived_camera_world_tx = 13

• optional float derived_camera_world_ty = 14

• optional float derived_camera_world_tz = 15

• optional uint32 pixel_image_width = 16

• optional uint32 pixel_image_height = 17

Used in: SSL_WrapperPacket, SimulatorConfig

• required SSL_GeometryFieldSize field = 1

• repeated SSL_GeometryCameraCalibration calib = 2

• optional SSL_GeometryModels models = 3

Used in: SSL_GeometryData

• required int32 field_length = 1

• required int32 field_width = 2

• required int32 goal_width = 3

• required int32 goal_depth = 4

• required int32 boundary_width = 5

• repeated SSL_FieldLineSegment field_lines = 6

• repeated SSL_FieldCircularArc field_arcs = 7

• optional int32 penalty_area_depth = 8

• optional int32 penalty_area_width = 9

Used in: SSL_GeometryData

• optional SSL_BallModelStraightTwoPhase straight_two_phase = 1

• optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2

• optional SSL_DetectionFrame detection = 1

• optional SSL_GeometryData geometry = 2

Request from the team to the simulator

• optional float sim_step = 1

  The simulation step [s] to perform

• optional SimulatorCommand simulator_command = 2

  An optional simulator command

• optional RobotControl robot_control = 3

  An optional robot control command

Response to last SimulationSyncRequest

• repeated SSL_DetectionFrame detection = 1

  List of detection frames for all cameras with the state after the simulation step in the request was performed

• optional RobotControlResponse robot_control_response = 2

  An optional robot control response

Command from the connected client to the simulator

Used in: SimulationSyncRequest

• optional SimulatorControl control = 1

  Control the simulation

• optional SimulatorConfig config = 2

  Configure the simulation

Change the simulator configuration

Used in: SimulatorCommand

• optional SSL_GeometryData geometry = 1

  Update the geometry

• repeated RobotSpecs robot_specs = 2

  Update the robot specs

• optional RealismConfig realism_config = 3

  Update realism configuration

• optional uint32 vision_port = 4

  Change the vision publish port

Control the simulation

Used in: SimulatorCommand

• optional TeleportBall teleport_ball = 1

  Teleport the ball

• repeated TeleportRobot teleport_robot = 2

  Teleport robots

• optional float simulation_speed = 3

  Change the simulation speed

Errors in the simulator

Used in: RobotControlResponse, SimulatorResponse

• optional string code = 1

  Unique code of the error for automatic handling on client side

• optional string message = 2

  Human readable description of the error

Response of the simulator to the connected client

• repeated SimulatorError errors = 1

  List of errors, like using unsupported features

Team is either blue or yellow

Used in: RobotId

• UNKNOWN = 0

  team not set

• YELLOW = 1

  yellow team

• BLUE = 2

  blue team

Teleport the ball to a new location and optionally set it to some velocity

Used in: SimulatorControl

• optional float x = 1

  x-coordinate [m]

• optional float y = 2

  y-coordinate [m]

• optional float z = 3

  z-coordinate (height) [m]

• optional float vx = 4

  Velocity in x-direction [m/s]

• optional float vy = 5

  Velocity in y-direction [m/s]

• optional float vz = 6

  Velocity in z-direction [m/s]

• optional bool teleport_safely = 7

  Teleport the ball safely to the target, for example by moving robots out of the way in case of collision and set speed of robots close-by to zero

• optional bool roll = 8

  Adapt the angular ball velocity such that the ball is rolling

Teleport a robot to some location and give it a velocity

Used in: SimulatorControl

• required RobotId id = 1

  Robot id to teleport

• optional float x = 2

  x-coordinate [m]

• optional float y = 3

  y-coordinate [m]

• optional float orientation = 4

  Orientation [rad], measured from the x-axis counter-clockwise

• optional float v_x = 5

  Global velocity [m/s] towards x-axis

• optional float v_y = 6

  Global velocity [m/s] towards y-axis

• optional float v_angular = 7

  Angular velocity [rad/s]

• optional bool present = 8

  Robot should be present on the field? true -> robot will be added, if it does not exist yet false -> robot will be removed, if it is present

A 2D float vector.

Used in: SSL_FieldCircularArc, SSL_FieldLineSegment

• required float x = 1

• required float y = 2

Used in: grSim_Replacement

• optional double x = 1

• optional double y = 2

• optional double vx = 3

• optional double vy = 4

Used in: grSim_Packet

• required double timestamp = 1

• required bool isteamyellow = 2

• repeated grSim_Robot_Command robot_commands = 3

• optional grSim_Commands commands = 1

• optional grSim_Replacement replacement = 2

Used in: grSim_Packet

• optional grSim_BallReplacement ball = 1

• repeated grSim_RobotReplacement robots = 2

Used in: grSim_Replacement

• required double x = 1

• required double y = 2

• required double dir = 3

• required uint32 id = 4

• required bool yellowteam = 5

• optional bool turnon = 6

Used in: grSim_Commands

• required uint32 id = 1

• required float kickspeedx = 2

• required float kickspeedz = 3

• required float veltangent = 4

• required float velnormal = 5

• required float velangular = 6

• required bool spinner = 7

• required bool wheelsspeed = 8

• optional float wheel1 = 9

• optional float wheel2 = 10

• optional float wheel3 = 11

• optional float wheel4 = 12