package robot

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Used in: ControllerInput

• optional Vector start_pos = 1

• optional Vector start_vel = 2

• optional Vector end_vel = 3

• optional float start_angle = 4

• optional float end_angle = 5

• optional float alpha = 6

• optional float time = 7

• optional float acceleration = 8

• optional float v_max = 9

• optional AlphaTimeTrajectory.EndSpeedType end_speed_type = 10

• optional float slow_down_time = 11

Used in: AlphaTimeTrajectory

• Exact = 1

• Fast = 2

Used in: RadioResponse

• optional MotorStatus motor_fl_status = 1

  front-left wheel motor

• optional MotorStatus motor_bl_status = 2

  back-left wheel motor

• optional MotorStatus motor_br_status = 3

  back-right wheel motor

• optional MotorStatus motor_fr_status = 4

  front-right wheel motor

• optional MotorStatus dribbler_status = 5

• optional KickerStatus kicker_status = 6

• optional IMUStatus imu_status = 7

• optional SDStatus sd_status = 8

Used in: RadioCommand

• optional ControllerInput controller = 1

• optional float v_f = 2

  these fields are used for manual control; if local is false, v_[sf] actually contain v_[xy]

• optional float v_s = 3

• optional float omega = 4

• optional Command.KickStyle kick_style = 5

• optional float kick_power = 6

• optional float dribbler = 7

• optional bool local = 8

• optional bool standby = 11

  deprecated = 9-10;

• optional bool strategy_controlled = 13

  deprecated = 12

• optional bool force_kick = 14

• optional bool network_controlled = 15

• optional bool eject_sdcard = 16

• optional float cur_v_f = 17

• optional float cur_v_s = 18

• optional float cur_v_x = 23

• optional float cur_v_y = 24

• optional float cur_phi = 25

• optional float cur_omega = 19

• optional SpeedVector output0 = 20

• optional SpeedVector output1 = 21

  this field is used by the command converter for the SSL sim protocol

• optional SpeedVector output2 = 22

• optional RobotState last_detection = 26

  in [m] and [rad], in the global coordinate system

Used in: Command

• Linear = 1

• Chip = 2

Used in: Command

• repeated Spline global_spline = 1

  a parameterization of the robot position in the global xy-coordinate system with the origin being the center of the field

• repeated Spline local_spline = 3

  a parameterization of the robot position in the global sf-coordinate system with the origin being the position of the robot

  the x polynomial is for sideward direction, y polynomial for forward direction

• repeated AlphaTimeTrajectory trajectory = 2

Used in: RadioResponse

• required bool motor_1_error = 1

  front-left wheel motor

• required bool motor_2_error = 2

  back-left wheel motor

• required bool motor_3_error = 3

  back-right wheel motor

• required bool motor_4_error = 4

  front-right wheel motor

• required bool dribbler_error = 5

• required bool kicker_error = 6

• optional bool motor_overheated_error = 8

• optional bool kicker_break_beam_error = 11

• optional bool motor_encoder_error = 9

• optional bool main_sensor_error = 10

• optional int32 temperature = 7

• required Specs default = 1

• repeated Specs robot = 2

Used in: BoardStatus

• optional bool error = 1

Used in: BoardStatus

• optional bool error = 1

• optional bool break_beam_error = 2

Used in: Specs

• optional float a_speedup_f_max = 1

  Used in Command Evaluator to limit velocities when used as 'acceleration' Used for pathfinding when used as 'strategy'

  [m/s^2]

• optional float a_speedup_s_max = 2

  [m/s^2]

• optional float a_speedup_phi_max = 3

  [rad/s^2]

• optional float a_brake_f_max = 4

  [m/s^2]

• optional float a_brake_s_max = 5

  [m/s^2]

• optional float a_brake_phi_max = 6

  [rad/s^2]

Used in: RadioResponse

• required float v_f = 1

• required float v_s = 2

• required float omega = 3

Used in: BoardStatus

• optional bool error = 1

• optional bool overheated = 2

• optional bool encoder_error = 3

Here, a0, a1, a2 and a3 do NOT represent position, velocity, acceleration and jerk and instead are the raw polynomial coefficients: a0 + a1*t + a2*t^2 + a3*t^3 == x + v*t + (1/2)*a*t^2 + (1/6)*j*t^3 where x is the position, v the velocity, a the acceleration and j the jerk. So it follows: a0 = x, a1 = v, a2 = a/2, a3 = j/6

Used in: Spline

• required float a0 = 1

• required float a1 = 2

• required float a2 = 3

• required float a3 = 4

Used in: amun.CommandControl, amun.Status, amun.UserInput

• required uint32 generation = 1

• required uint32 id = 2

• optional bool is_blue = 4

• required Command command = 3

• optional int64 command_time = 5

Used in: world.State

• optional int64 time = 10

• required uint32 generation = 1

• required uint32 id = 2

• optional float battery = 3

• optional float packet_loss_rx = 4

• optional float packet_loss_tx = 5

• optional bool ball_detected = 7

• optional bool cap_charged = 8

• optional float radio_rtt = 11

• optional bool is_blue = 13

• optional bool error_present = 9

  Older radio protocols (most notably, 2014) either sent the simple error_present field (no. 9) to signal that the robot detected any kind of error, and then sometimes it sent the extended_error (no 12), providing more details about the detected error(s). In the 2025 radio protocol, this was superseded by board_status (no 14). However, the error_present (9) and extended_error (12) are still computed and set in this message based on the contents of the board_status (14) for backwards compatibility.

• optional ExtendedError extended_error = 12

• optional BoardStatus board_status = 14

• optional LocalSpeed estimated_speed = 6

  measured_{pos,vel} is in **global** coordinates, estimated_speed is in **local** coordinates. In the 2025 protocol, the latter is computed from the former.

• optional RobotState measured_pos = 15

• optional RobotState measured_vel = 16

• optional bool power_enabled = 17

• optional float motor_fl_load_torque = 18

  [Nm]

• optional float motor_bl_load_torque = 19

  [Nm]

• optional float motor_br_load_torque = 20

  [Nm]

• optional float motor_fr_load_torque = 21

  [Nm]

• optional float dribbler_load_torque = 22

  [Nm]

Used in: Command, RadioResponse, world.Robot

• optional float x = 1

• optional float y = 2

• optional float angle = 3

Used in: BoardStatus

• optional bool error = 1

• optional bool mounted = 2

• optional bool full = 3

Used in: Specs

• optional float a_speedup_wheel_max = 1

  Limits maximum acceleration per wheel in the simulator

  [rot/s^2]

• optional float a_brake_wheel_max = 2

  [rot/s^2]

Used in: Generation, Team

• required uint32 generation = 1

• required uint32 year = 2

• required uint32 id = 3

• optional Specs.GenerationType type = 19

• optional float radius = 4

  [m]

• optional float height = 5

  [m]

• optional float mass = 6

  [kg]

• optional float angle = 7

  [rad]

• optional float v_max = 8

  [m/s], used in pathfinding as reliably achievable robot velocity

• optional float omega_max = 9

  [rad/s]

• optional float shot_linear_max = 10

  [m/s], mainly used by strategy, should match rules (6.5 m/s)

• optional float shot_chip_max = 11

  [m], mainly used by strategy, derived from 3D speed and launch angle

• optional float dribbler_width = 12

  [m], actual width of the dribbler, maximum value depends on the value of the angle parameter

• optional LimitParameters acceleration = 13

• optional LimitParameters strategy = 16

• optional float ir_param = 15

  deprecated = 14;

  Sensitivity parameter for light barrier, only used in Gen2014 as GenPasta have fixed light barrier

• optional float shoot_radius = 17

  [m], distance between the robot center and the edge of the ball when the ball is in the dribbler

• optional float dribbler_height = 18

  [m]

• optional SimulationLimits simulation_limits = 21

  if not present, the 'acceleration' field is used instread (with an additional acceleration factor)

• optional bool can_shoot = 22

• optional bool can_dribble = 23

Used in: Specs

• Regular = 1

  used for the mixed team technical challenge: own robots

Used in: Command

• optional float v_s = 1

• optional float v_f = 2

• optional float v_x = 4

• optional float v_y = 5

• optional float omega = 3

Used in: ControllerInput

• required float t_start = 1

• required float t_end = 2

• required Polynomial x = 3

• required Polynomial y = 4

• required Polynomial phi = 5

Used in: amun.Command, amun.Status

• repeated Specs robot = 1

Used in: AlphaTimeTrajectory

• required float x = 1

• required float y = 2