package SSLSimulationProto

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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)

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 SSLProto.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 dribbler_width = 9

  Width of the dribbler [m] (implicitly defines the distance from robot center to dribbler and opening angle)

• 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]

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 SSLProto.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 SSLProto.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

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

• optional bool by_force = 9

  Instead of teleporting the ball, apply some force to make sure the ball reaches the required position soon (velocity is ignored if true) WARNING: A command with by_force stays active (the move will take some time) until canceled by another TeleportBall command with by_force = false. To avoid teleporting the ball at the end and resetting its current spin, do not set any of the optional fields in this message to end the force without triggering an additional teleportation

Teleport a robot to some location and give it a velocity

Used in: SimulatorControl

• required SSLProto.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

• optional bool by_force = 9

  Instead of teleporting, apply some force to make sure the robot reaches the required position soon (velocity is ignored if true) WARNING: A command with by_force stays active (the move will take some time) until canceled by another TeleportRobot command for the same bot with by_force = false. To avoid teleporting at the end, do not set any of the optional fields in this message to end the force without triggering an additional teleportation