ssl_simulation_config.proto

syntax = "proto2";
option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";

import "ssl_gc_common.proto";
import "ssl_vision_geometry.proto";
import "google/protobuf/any.proto";

// Movement limits for a robot
message RobotLimits {
    // Max absolute speed-up acceleration [m/s^2]
    optional float acc_speedup_absolute_max = 1;
    // Max angular speed-up acceleration [rad/s^2]
    optional float acc_speedup_angular_max = 2;
    // Max absolute brake acceleration [m/s^2]
    optional float acc_brake_absolute_max = 3;
    // Max angular brake acceleration [rad/s^2]
    optional float acc_brake_angular_max = 4;
    // Max absolute velocity [m/s]
    optional float vel_absolute_max = 5;
    // Max angular velocity [rad/s]
    optional float vel_angular_max = 6;
}

// Robot wheel angle configuration
// all angles are relative to looking forward,
// all wheels / angles are clockwise
message RobotWheelAngles {
    // Angle front right [rad]
    required float front_right = 1;
    // Angle back right [rad]
    required float back_right = 2;
    // Angle back left [rad]
    required float back_left = 3;
    // Angle front left [rad]
    required float front_left = 4;
}

// Specs of a robot
message RobotSpecs {
    // Id of the robot
    required RobotId id = 1;
    // Robot radius [m]
    optional float radius = 2 [default = 0.09];
    // Robot height [m]
    optional float height = 3 [default = 0.15];
    // Robot mass [kg]
    optional float mass = 4;
    // Max linear kick speed [m/s] (unset = unlimited)
    optional float max_linear_kick_speed = 7;
    // Max chip kick speed [m/s] (unset = unlimited)
    optional float max_chip_kick_speed = 8;
    // Distance from robot center to dribbler [m] (implicitly defines the opening angle and dribbler width)
    optional float center_to_dribbler = 9;
    // Movement limits
    optional RobotLimits limits = 10;
    // Wheel angle configuration
    optional RobotWheelAngles wheel_angles = 13;
    // Custom robot spec for specific simulators (the protobuf files are managed by the simulators)
    repeated google.protobuf.Any custom = 14;
}

message RealismConfig {
    // Custom config for specific simulators (the protobuf files are managed by the simulators)
    repeated google.protobuf.Any custom = 1;
}

// Change the simulator configuration
message SimulatorConfig {
    // Update the geometry
    optional SSL_GeometryData geometry = 1;
    // Update the robot specs
    repeated RobotSpecs robot_specs = 2;
    // Update realism configuration
    optional RealismConfig realism_config = 3;
    // Change the vision publish port
    optional uint32 vision_port = 4;
}