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• bool is_playing = 1

Realism configuration for ER-Force simulator this message is stored in human readable form for saved ui settings therefore do NOT modify field names without changing them in the config files

Used in: amun.CommandSimulator

• optional float stddev_ball_p = 1

  Standard deviation of the gaussian noise applied to the ball position [m]

• optional float stddev_robot_p = 2

  Standard deviation of the gaussian noise applied to the robot position [m]

• optional float stddev_robot_phi = 3

  Standard deviation of the gaussian noise applied to the robot angle [rad]

• optional float stddev_ball_area = 4

  Standard deviation of the gaussian noise applied to reported ball area [pixel]

• optional bool enable_invisible_ball = 5

  Whether or not to simulate the ball being invisible when the view from the camera to it is blocked by a robot. It also simulates the slight perceived motion of the ball when it is partially overshadowed by a robot as the visible center of the ball shifts

• optional float ball_visibility_threshold = 6

  The occlusion threshold at which the ball will no longer be visible [0-1] A value of 0 would make the ball always visible

• optional float camera_overlap = 7

  The overlap of the visible range of the different cameras [m] For example: if there are two cameras and the overlap value is 0.5m then the ball is visible in both cameras between -0.5 and 0.5 meters from the centerline

• optional float dribbler_ball_detections = 8

  With this probability, additional erroneous ball detections are added at the edge of a robots dribbler (to emulate the red break beam lights sometimes being visible from the camera). [detections/s/robot]

• optional float camera_position_error = 9

  How much the reported camera positions should deviate from the actual camera positions used for ball projection etc. [m]

• optional float robot_command_loss = 10

  The percentage of robot control commands that are "lost in transit" [0-1]

• optional float robot_response_loss = 11

  The percentage of robot reply messages that are "lost in transit" [0-1]

• optional float missing_ball_detections = 12

  The percentage of times the ball is erroneously not "seen" by the camera [0-1]

• optional int64 vision_delay = 13

  Sending out the vision data is delayed by this time after capturing the positions [ns]

• optional int64 vision_processing_time = 14

  The difference between the reported t_capture and t_sent of the vision frame [ns]

• optional bool simulate_dribbling = 15

  If false, 'glue' the ball during dribbling

• optional float object_position_offset = 16

  Simulates an offset of all reported object positions (robots, ball) at this magnitude [m]

• double round_trip_time_seconds = 1

• uint32 robot_id = 2

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

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: sslsim.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 SSLProto.Referee ssl_referee_msg = 1

• optional SSLProto.SSL_WrapperPacket ssl_vision_msg = 2

• repeated TbotsProto.RobotStatus robot_status_msgs = 3

• optional TbotsProto.Timestamp backend_received_time = 4

  this is only used for replay at the moment

A 2D float vector.

Used in: SSL_FieldCircularArc, SSL_FieldLineSegment

• required float x = 1

• required float y = 2