package sslsim

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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

• repeated 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

• repeated RobotCommand robot_commands = 1

  Control the robots

Response to RobotControl from the simulator to the connected client

• 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

Custom robot specs for ER-Force simulator

• optional float shoot_radius = 1

  The distance [m] from the robot center to the ball, when the ball is as close as possible to the robot. The ball may be a little bit inside the roboter when looking from top, due to the dimensions of the dribbler.

• optional float dribbler_height = 2

  The height of the dribbling bar from the ground [m]

• optional float dribbler_width = 3

  The width of the dribbler itself (where the ball can be controlled), without the mechanical frame [m].

Specs of a robot

Used in: SimulatorConfig

• required gameController.BotId 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

• repeated 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]

Command from the connected client to the simulator

• 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: amun.CommandSimulator, 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] (internally in mm, see comment on the top)

• optional float y = 2

  y-coordinate [m] (internally in mm, see comment on the top)

• optional float z = 3

  z-coordinate (height) [m] (internally in mm, see comment on the top)

• optional float vx = 4

  Velocity in x-direction [m/s] (internally in mm, see comment on the top)

• optional float vy = 5

  Velocity in y-direction [m/s] (internally in mm, see comment on the top)

• optional float vz = 6

  Velocity in z-direction [m/s] (internally in mm, see comment on the top)

• 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)

Teleport a robot to some location and give it a velocity

Used in: SimulatorControl

• required gameController.BotId id = 1

  Robot id to teleport

• optional float x = 2

  x-coordinate [m] (internally in mm, see comment on the top)

• optional float y = 3

  y-coordinate [m] (internally in mm, see comment on the top)

• 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 (internally in mm, see comment on the top)

• optional float v_y = 6

  Global velocity [m/s] towards y-axis (internally in mm, see comment on the top)

• 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)