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Division denotes the current division, which influences some rules

• DIV_UNKNOWN = 0

• DIV_A = 1

• DIV_B = 2

GameEvent contains exactly one game event Each game event has optional and required fields. The required fields are mandatory to process the event. Some optional fields are only used for visualization, others are required to determine the ball placement position. If fields are missing that are required for the ball placement position, no ball placement command will be issued. Fields are marked optional to make testing and extending of the protocol easier. An autoRef should ideally set all fields, except if there are good reasons to not do so.

Used in: GameEvent.MultipleFouls, GameEventProposalGroup, Referee

• optional string id = 50

  A globally unique id of the game event.

• optional GameEvent.Type type = 40

  The type of the game event.

• repeated string origin = 41

  The origins of this game event. Empty, if it originates from game controller. Contains autoRef name(s), if it originates from one or more autoRefs. Ignored if sent by autoRef to game controller.

• optional uint64 created_timestamp = 49

  Unix timestamp in microseconds when the event was created.

• oneof event

  the event that occurred

  Ball out of field events (stopping)

  • GameEvent.BallLeftField ball_left_field_touch_line = 6

  • GameEvent.BallLeftField ball_left_field_goal_line = 7

  • GameEvent.AimlessKick aimless_kick = 11

  • GameEvent.AttackerTooCloseToDefenseArea attacker_too_close_to_defense_area = 19

  • GameEvent.DefenderInDefenseArea defender_in_defense_area = 31

  • GameEvent.BoundaryCrossing boundary_crossing = 43

  • GameEvent.KeeperHeldBall keeper_held_ball = 13

  • GameEvent.BotDribbledBallTooFar bot_dribbled_ball_too_far = 17

  • GameEvent.BotPushedBot bot_pushed_bot = 24

  • GameEvent.BotHeldBallDeliberately bot_held_ball_deliberately = 26

  • GameEvent.BotTippedOver bot_tipped_over = 27

  • GameEvent.BotDroppedParts bot_dropped_parts = 51

  • GameEvent.AttackerTouchedBallInDefenseArea attacker_touched_ball_in_defense_area = 15

  • GameEvent.BotKickedBallTooFast bot_kicked_ball_too_fast = 18

  • GameEvent.BotCrashUnique bot_crash_unique = 22

  • GameEvent.BotCrashDrawn bot_crash_drawn = 21

  • GameEvent.DefenderTooCloseToKickPoint defender_too_close_to_kick_point = 29

  • GameEvent.BotTooFastInStop bot_too_fast_in_stop = 28

  • GameEvent.BotInterferedPlacement bot_interfered_placement = 20

  • GameEvent.Goal possible_goal = 39

  • GameEvent.Goal goal = 8

  • GameEvent.Goal invalid_goal = 44

  • GameEvent.AttackerDoubleTouchedBall attacker_double_touched_ball = 14

  • GameEvent.PlacementSucceeded placement_succeeded = 5

  • GameEvent.PenaltyKickFailed penalty_kick_failed = 45

  • GameEvent.NoProgressInGame no_progress_in_game = 2

  • GameEvent.PlacementFailed placement_failed = 3

  • GameEvent.MultipleCards multiple_cards = 32

  • GameEvent.MultipleFouls multiple_fouls = 34

  • GameEvent.BotSubstitution bot_substitution = 37

  • GameEvent.ExcessiveBotSubstitution excessive_bot_substitution = 52

  • GameEvent.TooManyRobots too_many_robots = 38

  • GameEvent.ChallengeFlag challenge_flag = 46

  • GameEvent.ChallengeFlagHandled challenge_flag_handled = 48

  • GameEvent.EmergencyStop emergency_stop = 47

  • GameEvent.UnsportingBehaviorMinor unsporting_behavior_minor = 35

  • GameEvent.UnsportingBehaviorMajor unsporting_behavior_major = 36

  • GameEvent.Prepared prepared = 1

    replaced by ready_to_continue flag

  • GameEvent.IndirectGoal indirect_goal = 9

    obsolete

  • GameEvent.ChippedGoal chipped_goal = 10

    replaced by the meta-information in the possible_goal event

  • GameEvent.KickTimeout kick_timeout = 12

    obsolete

  • GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area = 16

    rule removed

  • GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area_skipped = 42

    obsolete

  • GameEvent.BotCrashUnique bot_crash_unique_skipped = 23

    obsolete

  • GameEvent.BotPushedBot bot_pushed_bot_skipped = 25

    can not be used as long as autoRefs do not judge pushing

  • GameEvent.DefenderInDefenseAreaPartially defender_in_defense_area_partially = 30

    rule removed

  • GameEvent.MultiplePlacementFailures multiple_placement_failures = 33

    the referee msg already indicates this

the ball left the field via goal line and a team committed an aimless kick

Used in: GameEvent

• required Team by_team = 1

  the team that last touched the ball

• optional uint32 by_bot = 2

  the bot that last touched the ball

• optional Vector2 location = 3

  the location where the ball left the field [m]

• optional Vector2 kick_location = 4

  the location where the ball was last touched [m]

an attacker touched the ball multiple times when it was not allowed to

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that touched the ball twice

• optional Vector2 location = 3

  the location of the ball when it was first touched [m]

an attacker was located too near to the opponent defense area during stop or free kick

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that is too close to the defense area

• optional Vector2 location = 3

  the location of the bot [m]

• optional float distance = 4

  the distance [m] of the bot to the penalty area

• optional Vector2 ball_location = 5

  the location of the ball at the moment when this foul occurred [m]

an attacker touched the ball inside the opponent defense area

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that is inside the penalty area

• optional Vector2 location = 3

  the location of the bot [m]

• optional float distance = 4

  the distance [m] that the bot is inside the penalty area

an attacker touched the opponent robot inside defense area

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that touched the opponent robot

• optional uint32 victim = 4

  the bot of the opposite team that was touched

• optional Vector2 location = 3

  the location of the contact point between both bots [m]

the ball left the field normally

Used in: GameEvent

• required Team by_team = 1

  the team that last touched the ball

• optional uint32 by_bot = 2

  the bot that last touched the ball

• optional Vector2 location = 3

  the location where the ball left the field [m]

two robots crashed into each other with similar speeds

Used in: GameEvent

• optional uint32 bot_yellow = 1

  the bot of the yellow team

• optional uint32 bot_blue = 2

  the bot of the blue team

• optional Vector2 location = 3

  the location of the crash (center between both bots) [m]

• optional float crash_speed = 4

  the calculated crash speed [m/s] of the two bots

• optional float speed_diff = 5

  the difference [m/s] of the velocity of the two bots

• optional float crash_angle = 6

  the angle [rad] in the range [0, π] of the bot velocity vectors an angle of 0 rad ( 0°) means, the bots barely touched each other an angle of π rad (180°) means, the bots crashed frontal into each other

two robots crashed into each other and one team was found guilty to due significant speed difference

Used in: GameEvent

• required Team by_team = 1

  the team that caused the crash

• optional uint32 violator = 2

  the bot that caused the crash

• optional uint32 victim = 3

  the bot of the opposite team that was involved in the crash

• optional Vector2 location = 4

  the location of the crash (center between both bots) [m]

• optional float crash_speed = 5

  the calculated crash speed vector [m/s] of the two bots

• optional float speed_diff = 6

  the difference [m/s] of the velocity of the two bots

• optional float crash_angle = 7

  the angle [rad] in the range [0, π] of the bot velocity vectors an angle of 0 rad ( 0°) means, the bots barely touched each other an angle of π rad (180°) means, the bots crashed frontal into each other

a bot dribbled to ball too far

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that dribbled too far

• optional Vector2 start = 3

  the location where the dribbling started [m]

• optional Vector2 end = 4

  the location where the maximum dribbling distance was reached [m]

a bot dropped parts

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that dropped the parts

• optional Vector2 location = 3

  the location where the parts were dropped [m]

• optional Vector2 ball_location = 4

  the location of the ball at the moment when this foul occurred [m]

a bot held the ball for too long

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that holds the ball

• optional Vector2 location = 3

  the location of the ball [m]

• optional float duration = 4

  the duration [s] that the bot hold the ball

a bot interfered the ball placement of the other team

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that interfered the placement

• optional Vector2 location = 3

  the location of the bot [m]

a bot kicked the ball too fast

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that kicked too fast

• optional Vector2 location = 3

  the location of the ball at the time of the highest speed [m]

• optional float initial_ball_speed = 4

  the absolute initial ball speed (kick speed) [m/s]

• optional bool chipped = 5

  was the ball chipped?

a bot pushed another bot over a significant distance

Used in: GameEvent

• required Team by_team = 1

  the team that pushed the other team

• optional uint32 violator = 2

  the bot that pushed the other bot

• optional uint32 victim = 3

  the bot of the opposite team that was pushed

• optional Vector2 location = 4

  the location of the push (center between both bots) [m]

• optional float pushed_distance = 5

  the pushed distance [m]

bots are being substituted by a team

Used in: GameEvent

• required Team by_team = 1

  the team that substitutes robots

a bot tipped over

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that tipped over

• optional Vector2 location = 3

  the location of the bot [m]

• optional Vector2 ball_location = 4

  the location of the ball at the moment when this foul occurred [m]

a bot moved too fast while the game was stopped

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that was too fast

• optional Vector2 location = 3

  the location of the bot [m]

• optional float speed = 4

  the bot speed [m/s]

a robot chipped the ball over the field boundary out of the playing surface

Used in: GameEvent

• required Team by_team = 1

  the team that has too many robots

• optional Vector2 location = 2

  the location of the ball [m]

A challenge flag, requested by a team previously, is flagged

Used in: GameEvent

• required Team by_team = 1

  the team that requested the challenge flag

A challenge, flagged recently, has been handled by the referee

Used in: GameEvent

• required Team by_team = 1

  the team that requested the challenge flag

• required bool accepted = 2

  the challenge was accepted by the referee

the ball entered the goal, but was initially chipped

Used in: GameEvent

• required Team by_team = 1

  the team that tried to shoot the goal

• optional uint32 by_bot = 2

  the bot that kicked the ball

• optional Vector2 location = 3

  the location where the ball entered the goal [m]

• optional Vector2 kick_location = 4

  the location where the ball was kicked [m]

• optional float max_ball_height = 5

  the maximum height [m] of the ball, before it entered the goal and since the last kick [m]

a defender other than the keeper was fully located inside its own defense and touched the ball

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that is inside the penalty area

• optional Vector2 location = 3

  the location of the bot [m]

• optional float distance = 4

  the distance [m] from bot case to the nearest point outside the defense area

a defender other than the keeper was partially located inside its own defense area and touched the ball

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that is partially inside the penalty area

• optional Vector2 location = 3

  the location of the bot

• optional float distance = 4

  the distance [m] that the bot is inside the penalty area

• optional Vector2 ball_location = 5

  the location of the ball at the moment when this foul occurred [m]

a bot of the defending team got too close to the kick point during a free kick

Used in: GameEvent

• required Team by_team = 1

  the team that was found guilty

• optional uint32 by_bot = 2

  the bot that violates the distance to the kick point

• optional Vector2 location = 3

  the location of the bot [m]

• optional float distance = 4

  the distance [m] from bot to the kick point (including the minimum radius)

An emergency stop, requested by team previously, occurred

Used in: GameEvent

• required Team by_team = 1

  the team that substitutes robots

A foul for excessive bot substitutions

Used in: GameEvent

• required Team by_team = 1

  the team that substitutes robots

a team shot a goal

Used in: GameEvent

• required Team by_team = 1

  the team that scored the goal

• optional Team kicking_team = 6

  the team that shot the goal (different from by_team for own goals)

• optional uint32 kicking_bot = 2

  the bot that shot the goal

• optional Vector2 location = 3

  the location where the ball entered the goal [m]

• optional Vector2 kick_location = 4

  the location where the ball was kicked (for deciding if this was a valid goal) [m]

• optional float max_ball_height = 5

  the maximum height the ball reached during the goal kick (for deciding if this was a valid goal) [m]

• optional uint32 num_robots_by_team = 7

  number of robots of scoring team when the ball entered the goal (for deciding if this was a valid goal)

• optional uint64 last_touch_by_team = 8

  The UNIX timestamp [μs] when the scoring team last touched the ball

• optional string message = 9

  An additional message with e.g. a reason for invalid goals

the ball entered the goal directly during an indirect free kick

Used in: GameEvent

• required Team by_team = 1

  the team that tried to shoot the goal

• optional uint32 by_bot = 2

  the bot that kicked the ball - at least the team must be set

• optional Vector2 location = 3

  the location where the ball entered the goal [m]

• optional Vector2 kick_location = 4

  the location where the ball was kicked [m]

a keeper held the ball in its defense area for too long

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional Vector2 location = 2

  the location of the ball [m]

• optional float duration = 3

  the duration [s] that the keeper hold the ball

timeout waiting for the attacking team to perform the free kick

Used in: GameEvent

• required Team by_team = 1

  the team that that should have kicked

• optional Vector2 location = 2

  the location of the ball [m]

• optional float time = 3

  the time [s] that was waited

a team collected multiple yellow cards

Used in: GameEvent

• required Team by_team = 1

  the team that received multiple yellow cards

a team collected multiple fouls, which results in a yellow card

Used in: GameEvent

• required Team by_team = 1

  the team that collected multiple fouls

• repeated GameEvent caused_game_events = 2

  the list of game events that caused the multiple fouls

a team failed to place the ball multiple times in a row

Used in: GameEvent

• required Team by_team = 1

  the team that failed multiple times

game was stuck

Used in: GameEvent

• optional Vector2 location = 1

  the location of the ball

• optional float time = 2

  the time [s] that was waited

the penalty kick failed (by time or by keeper)

Used in: GameEvent

• required Team by_team = 1

  the team that last touched the ball

• optional Vector2 location = 2

  the location of the ball at the moment of this event [m]

• optional string reason = 3

  an explanation of the failure

ball placement failed

Used in: GameEvent

• required Team by_team = 1

  the team that failed

• optional float remaining_distance = 2

  the remaining distance [m] from ball to placement position

• optional float nearest_own_bot_distance = 3

  the distance [m] of the nearest own robot to the ball

a team successfully placed the ball

Used in: GameEvent

• required Team by_team = 1

  the team that did the placement

• optional float time_taken = 2

  the time [s] taken for placing the ball

• optional float precision = 3

  the distance [m] between placement location and actual ball position

• optional float distance = 4

  the distance [m] between the initial ball location and the placement position

both teams are prepared - all conditions are met to continue (with kickoff or penalty kick)

Used in: GameEvent

• optional float time_taken = 1

  the time [s] taken for preparing

a team has too many robots on the field

Used in: GameEvent

• required Team by_team = 1

  the team that has too many robots

• optional int32 num_robots_allowed = 2

  number of robots allowed at the moment

• optional int32 num_robots_on_field = 3

  number of robots currently on the field

• optional Vector2 ball_location = 4

  the location of the ball at the moment when this foul occurred [m]

Used in: GameEvent

• UNKNOWN_GAME_EVENT_TYPE = 0

• BALL_LEFT_FIELD_TOUCH_LINE = 6

  triggered by autoRef

• BALL_LEFT_FIELD_GOAL_LINE = 7

  triggered by autoRef

• AIMLESS_KICK = 11

  triggered by autoRef

• ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA = 19

  triggered by autoRef

• DEFENDER_IN_DEFENSE_AREA = 31

  triggered by autoRef

• BOUNDARY_CROSSING = 41

  triggered by autoRef

• KEEPER_HELD_BALL = 13

  triggered by GC

• BOT_DRIBBLED_BALL_TOO_FAR = 17

  triggered by autoRef

• BOT_PUSHED_BOT = 24

  triggered by human ref

• BOT_HELD_BALL_DELIBERATELY = 26

  triggered by human ref

• BOT_TIPPED_OVER = 27

  triggered by human ref

• BOT_DROPPED_PARTS = 47

  triggered by human ref

• ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA = 15

  triggered by autoRef

• BOT_KICKED_BALL_TOO_FAST = 18

  triggered by autoRef

• BOT_CRASH_UNIQUE = 22

  triggered by autoRef

• BOT_CRASH_DRAWN = 21

  triggered by autoRef

• DEFENDER_TOO_CLOSE_TO_KICK_POINT = 29

  triggered by autoRef

• BOT_TOO_FAST_IN_STOP = 28

  triggered by autoRef

• BOT_INTERFERED_PLACEMENT = 20

  triggered by autoRef

• EXCESSIVE_BOT_SUBSTITUTION = 48

  triggered by GC

• POSSIBLE_GOAL = 39

  triggered by autoRef

• GOAL = 8

  triggered by GC

• INVALID_GOAL = 42

  triggered by GC

• ATTACKER_DOUBLE_TOUCHED_BALL = 14

  triggered by autoRef

• PLACEMENT_SUCCEEDED = 5

  triggered by autoRef

• PENALTY_KICK_FAILED = 43

  triggered by GC and autoRef

• NO_PROGRESS_IN_GAME = 2

  triggered by GC

• PLACEMENT_FAILED = 3

  triggered by GC

• MULTIPLE_CARDS = 32

  triggered by GC

• MULTIPLE_FOULS = 34

  triggered by GC

• BOT_SUBSTITUTION = 37

  triggered by GC

• TOO_MANY_ROBOTS = 38

  triggered by GC

• CHALLENGE_FLAG = 44

  triggered by GC

• CHALLENGE_FLAG_HANDLED = 46

  triggered by GC

• EMERGENCY_STOP = 45

  triggered by GC

• UNSPORTING_BEHAVIOR_MINOR = 35

  triggered by human ref

• UNSPORTING_BEHAVIOR_MAJOR = 36

  triggered by human ref

• PREPARED = 1

• INDIRECT_GOAL = 9

• CHIPPED_GOAL = 10

• KICK_TIMEOUT = 12

• ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA = 16

• ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED = 40

• BOT_CRASH_UNIQUE_SKIPPED = 23

• BOT_PUSHED_BOT_SKIPPED = 25

• DEFENDER_IN_DEFENSE_AREA_PARTIALLY = 30

• MULTIPLE_PLACEMENT_FAILURES = 33

a team was found guilty for major unsporting behavior

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• required string reason = 2

  an explanation of the situation and decision

a team was found guilty for minor unsporting behavior

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• required string reason = 2

  an explanation of the situation and decision

List of matching proposals

Used in: Referee

• optional string id = 3

  Unique ID of this group

• repeated GameEvent game_events = 1

  The proposed game events

• optional bool accepted = 2

  Whether the proposal group was accepted

MatchType is a meta information about the current match for easier log processing

Used in: Referee

• UNKNOWN_MATCH = 0

  not set

• GROUP_PHASE = 1

  match is part of the group phase

• ELIMINATION_PHASE = 2

  match is part of the elimination phase

• FRIENDLY = 3

  a friendly match, not part of a tournament

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)

Each UDP packet contains one of these messages.

Used in: Packet.LogFrame

• optional string source_identifier = 18

  A random UUID of the source that is kept constant at the source while running If multiple sources are broadcasting to the same network, this id can be used to identify individual sources

• optional MatchType match_type = 19

  The match type is a meta information about the current match that helps to process the logs after a competition

• required uint64 packet_timestamp = 1

  The UNIX timestamp when the packet was sent, in microseconds. Divide by 1,000,000 to get a time_t.

• required Referee.Stage stage = 2

• optional sint64 stage_time_left = 3

  The number of microseconds left in the stage. The following stages have this value; the rest do not: NORMAL_FIRST_HALF NORMAL_HALF_TIME NORMAL_SECOND_HALF EXTRA_TIME_BREAK EXTRA_FIRST_HALF EXTRA_HALF_TIME EXTRA_SECOND_HALF PENALTY_SHOOTOUT_BREAK If the stage runs over its specified time, this value becomes negative.

• required Referee.Command command = 4

• required uint32 command_counter = 5

  The number of commands issued since startup (mod 2^32).

• required uint64 command_timestamp = 6

  The UNIX timestamp when the command was issued, in microseconds. This value changes only when a new command is issued, not on each packet.

• required Referee.TeamInfo yellow = 7

  Information about the two teams.

• required Referee.TeamInfo blue = 8

• optional Referee.Point designated_position = 9

• optional bool blue_team_on_positive_half = 10

  Information about the direction of play. True, if the blue team will have it's goal on the positive x-axis of the ssl-vision coordinate system. Obviously, the yellow team will play on the opposite half.

• optional Referee.Command next_command = 12

  The command that will be issued after the current stoppage and ball placement to continue the game.

• repeated GameEvent game_events = 16

• repeated GameEventProposalGroup game_event_proposals = 17

• optional int64 current_action_time_remaining = 15

  The time in microseconds that is remaining until the current action times out The time will not be reset. It can get negative. An autoRef would raise an appropriate event, if the time gets negative. Possible actions where this time is relevant: * free kicks * kickoff, penalty kick, force start * ball placement

• optional string status_message = 20

  A message that can be displayed to the spectators, like a reason for a stoppage.

These are the "fine" states of play on the field.

Used in: Referee

• HALT = 0

  All robots should completely stop moving.

• STOP = 1

  Robots must keep 50 cm from the ball.

• NORMAL_START = 2

  A prepared kickoff or penalty may now be taken.

• FORCE_START = 3

  The ball is dropped and free for either team.

• PREPARE_KICKOFF_YELLOW = 4

  The yellow team may move into kickoff position.

• PREPARE_KICKOFF_BLUE = 5

  The blue team may move into kickoff position.

• PREPARE_PENALTY_YELLOW = 6

  The yellow team may move into penalty position.

• PREPARE_PENALTY_BLUE = 7

  The blue team may move into penalty position.

• DIRECT_FREE_YELLOW = 8

  The yellow team may take a direct free kick.

• DIRECT_FREE_BLUE = 9

  The blue team may take a direct free kick.

• INDIRECT_FREE_YELLOW = 10

  The yellow team may take an indirect free kick.

• INDIRECT_FREE_BLUE = 11

  The blue team may take an indirect free kick.

• TIMEOUT_YELLOW = 12

  The yellow team is currently in a timeout.

• TIMEOUT_BLUE = 13

  The blue team is currently in a timeout.

• GOAL_YELLOW = 14

  The yellow team just scored a goal. For information only. Deprecated: Use the score field from the team infos instead. That way, you can also detect revoked goals.

• GOAL_BLUE = 15

  The blue team just scored a goal. See also GOAL_YELLOW.

• BALL_PLACEMENT_YELLOW = 16

  Equivalent to STOP, but the yellow team must pick up the ball and drop it in the Designated Position.

• BALL_PLACEMENT_BLUE = 17

  Equivalent to STOP, but the blue team must pick up the ball and drop it in the Designated Position.

The coordinates of the Designated Position. These are measured in millimetres and correspond to SSL-Vision coordinates. These fields are always either both present (in the case of a ball placement command) or both absent (in the case of any other command).

Used in: Referee

• required float x = 1

• required float y = 2

These are the "coarse" stages of the game.

Used in: Referee

• NORMAL_FIRST_HALF_PRE = 0

  The first half is about to start. A kickoff is called within this stage. This stage ends with the NORMAL_START.

• NORMAL_FIRST_HALF = 1

  The first half of the normal game, before half time.

• NORMAL_HALF_TIME = 2

  Half time between first and second halves.

• NORMAL_SECOND_HALF_PRE = 3

  The second half is about to start. A kickoff is called within this stage. This stage ends with the NORMAL_START.

• NORMAL_SECOND_HALF = 4

  The second half of the normal game, after half time.

• EXTRA_TIME_BREAK = 5

  The break before extra time.

• EXTRA_FIRST_HALF_PRE = 6

  The first half of extra time is about to start. A kickoff is called within this stage. This stage ends with the NORMAL_START.

• EXTRA_FIRST_HALF = 7

  The first half of extra time.

• EXTRA_HALF_TIME = 8

  Half time between first and second extra halves.

• EXTRA_SECOND_HALF_PRE = 9

  The second half of extra time is about to start. A kickoff is called within this stage. This stage ends with the NORMAL_START.

• EXTRA_SECOND_HALF = 10

  The second half of extra time.

• PENALTY_SHOOTOUT_BREAK = 11

  The break before penalty shootout.

• PENALTY_SHOOTOUT = 12

  The penalty shootout.

• POST_GAME = 13

  The game is over.

Information about a single team.

Used in: Referee

• required string name = 1

  The team's name (empty string if operator has not typed anything).

• required uint32 score = 2

  The number of goals scored by the team during normal play and overtime.

• required uint32 red_cards = 3

  The number of red cards issued to the team since the beginning of the game.

• repeated uint32 yellow_card_times = 4

  The amount of time (in microseconds) left on each yellow card issued to the team. If no yellow cards are issued, this array has no elements. Otherwise, times are ordered from smallest to largest.

• required uint32 yellow_cards = 5

  The total number of yellow cards ever issued to the team.

• required uint32 timeouts = 6

  The number of timeouts this team can still call. If in a timeout right now, that timeout is excluded.

• required uint32 timeout_time = 7

  The number of microseconds of timeout this team can use.

• required uint32 goalkeeper = 8

  The pattern number of this team's goalkeeper.

• optional uint32 foul_counter = 9

  The total number of countable fouls that act towards yellow cards

• optional uint32 ball_placement_failures = 10

  The number of consecutive ball placement failures of this team

• optional bool can_place_ball = 12

  Indicate if the team is able and allowed to place the ball

• optional uint32 max_allowed_bots = 13

  The maximum number of bots allowed on the field based on division and cards

• optional bool bot_substitution_intent = 14

  The team has submitted an intent to substitute one or more robots at the next chance

• optional bool ball_placement_failures_reached = 15

  Indicate if the team reached the maximum allowed ball placement failures and is thus not allowed to place the ball anymore

• optional bool bot_substitution_allowed = 16

  The team is allowed to substitute one or more robots currently

• optional uint32 bot_substitutions_left = 17

  The number of bot substitutions left by the team in this halftime

• optional uint32 bot_substitution_time_left = 18

  The number of microseconds left for current bot substitution

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]

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

Used in: Packet.LogFrame

• 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: GameEvent.AimlessKick, GameEvent.AttackerDoubleTouchedBall, GameEvent.AttackerTooCloseToDefenseArea, GameEvent.AttackerTouchedBallInDefenseArea, GameEvent.AttackerTouchedOpponentInDefenseArea, GameEvent.BallLeftField, GameEvent.BotCrashUnique, GameEvent.BotDribbledBallTooFar, GameEvent.BotDroppedParts, GameEvent.BotHeldBallDeliberately, GameEvent.BotInterferedPlacement, GameEvent.BotKickedBallTooFast, GameEvent.BotPushedBot, GameEvent.BotSubstitution, GameEvent.BotTippedOver, GameEvent.BotTooFastInStop, GameEvent.BoundaryCrossing, GameEvent.ChallengeFlag, GameEvent.ChallengeFlagHandled, GameEvent.ChippedGoal, GameEvent.DefenderInDefenseArea, GameEvent.DefenderInDefenseAreaPartially, GameEvent.DefenderTooCloseToKickPoint, GameEvent.EmergencyStop, GameEvent.ExcessiveBotSubstitution, GameEvent.Goal, GameEvent.IndirectGoal, GameEvent.KeeperHeldBall, GameEvent.KickTimeout, GameEvent.MultipleCards, GameEvent.MultipleFouls, GameEvent.MultiplePlacementFailures, GameEvent.PenaltyKickFailed, GameEvent.PlacementFailed, GameEvent.PlacementSucceeded, GameEvent.TooManyRobots, GameEvent.UnsportingBehaviorMajor, GameEvent.UnsportingBehaviorMinor, 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 vector with two dimensions

Used in: GameEvent.AimlessKick, GameEvent.AttackerDoubleTouchedBall, GameEvent.AttackerTooCloseToDefenseArea, GameEvent.AttackerTouchedBallInDefenseArea, GameEvent.AttackerTouchedOpponentInDefenseArea, GameEvent.BallLeftField, GameEvent.BotCrashDrawn, GameEvent.BotCrashUnique, GameEvent.BotDribbledBallTooFar, GameEvent.BotDroppedParts, GameEvent.BotHeldBallDeliberately, GameEvent.BotInterferedPlacement, GameEvent.BotKickedBallTooFast, GameEvent.BotPushedBot, GameEvent.BotTippedOver, GameEvent.BotTooFastInStop, GameEvent.BoundaryCrossing, GameEvent.ChippedGoal, GameEvent.DefenderInDefenseArea, GameEvent.DefenderInDefenseAreaPartially, GameEvent.DefenderTooCloseToKickPoint, GameEvent.Goal, GameEvent.IndirectGoal, GameEvent.KeeperHeldBall, GameEvent.KickTimeout, GameEvent.NoProgressInGame, GameEvent.PenaltyKickFailed, GameEvent.TooManyRobots

• required float x = 1

• required float y = 2

A 2D float vector.

Used in: SSL_FieldCircularArc, SSL_FieldLineSegment

• required float x = 1

• required float y = 2

A vector with three dimensions

• required float x = 1

• required float y = 2

• required float z = 3

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