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robot-specs.yaml
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robot-specs.yaml
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# Some notes on how to measure:
#
# - team name: Should match exactly the one configured in the ssl-game-controller
# - height: Floor to flat surface, excluding small screws.
# - limits: You should specify a reasonable max possible limit, not the limit that you use for normal driving.
# - shoot_radius: The distance [m] from the robot center to the ball, when the ball is as close as possible to the robot.
# - dribbler_width: The width of the dribbling bar.
# - More details on how the custom parameters for the ER-Force sim are applied can be found at:
# https://github.com/RoboCup-SSL/ssl-simulation-protocol/tree/master/proto/erforce
robot-specs:
"Unknown":
radius: 0.09
# Height up to the flat surface, excluding screws.
height: 0.143
mass: 2.7
max_linear_kick_speed: 6
max_chip_kick_speed: 6
center_to_dribbler: 0.078
limits:
acc_speedup_absolute_max: 2
acc_speedup_angular_max: 20
acc_brake_absolute_max: 2
acc_brake_angular_max: 20
vel_absolute_max: 2
vel_angular_max: 5
custom_erforce:
shoot_radius: 0.0715
dribbler_width: 0.065
"TIGERs Mannheim":
radius: 0.09
# Height up to the flat surface, excluding screws.
height: 0.143
mass: 2.7
max_linear_kick_speed: 8
max_chip_kick_speed: 8
center_to_dribbler: 0.078
limits:
# Default acc is 3 m/s²
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
# Default brake acc is same as speedup, but the limit is used for emergency brake.
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
# Default max speed is 3 m/s, but the fast-move mode allows 4.5 m/s by only driving the bot fwd or bwd.
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.0715
dribbler_width: 0.065
"ER-Force":
radius: 0.089
height: 0.138
mass: 1.5
max_linear_kick_speed: 8
max_chip_kick_speed: 8
center_to_dribbler: 0.0784
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.067
dribbler_width: 0.07
"RobôCin":
radius: 0.088
height: 0.148
mass: 2.45
max_linear_kick_speed: 10
max_chip_kick_speed: 8
center_to_dribbler: 0.0756
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.0669
dribbler_width: 0.072
"RoboFEI":
radius: 0.09
height: 0.15
mass: 2.5
max_linear_kick_speed: 8
max_chip_kick_speed: 8
center_to_dribbler: 0.075
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.07
dribbler_width: 0.07
"RoboIME":
radius: 0.09
height: 0.15
mass: 2.5
max_linear_kick_speed: 8
max_chip_kick_speed: 8
center_to_dribbler: 0.075
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.07
dribbler_width: 0.072
"RoboTeam Twente":
radius: 0.09
height: 0.149
mass: 2.320
max_linear_kick_speed: 7.5
max_chip_kick_speed: 7.35
center_to_dribbler: 0.0735
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.07
dribbler_width: 0.07
"UBC Thunderbots":
radius: 0.09
height: 0.15
mass: 2.5
max_linear_kick_speed: 7
max_chip_kick_speed: 7
center_to_dribbler: 0.07
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.07
dribbler_width: 0.088
"SRC":
radius: 0.09
height: 0.15
mass: 2.5
max_linear_kick_speed: 7
max_chip_kick_speed: 7
center_to_dribbler: 0.076
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.07
dribbler_width: 0.064
"KIKS":
radius: 0.089
height: 0.132
mass: 2.6
max_linear_kick_speed: 8
max_chip_kick_speed: 8
center_to_dribbler: 0.078
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.07
dribbler_width: 0.081
"RoboJackets":
radius: 0.089
height: 0.15
mass: 2.5
max_linear_kick_speed: 7
max_chip_kick_speed: 7
center_to_dribbler: 0.078
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.07
dribbler_width: 0.065
"RoboDragons":
radius: 0.09
height: 0.125
mass: 2.4
max_linear_kick_speed: 6.5
max_chip_kick_speed: 6.5
center_to_dribbler: 0.078
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.0715
dribbler_width: 0.075
"URoboRus":
radius: 0.09
height: 0.147
mass: 1.5
max_linear_kick_speed: 8
max_chip_kick_speed: 5
center_to_dribbler: 0.078
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.074
dribbler_width: 0.05
"OMID":
radius: 0.085
height: 0.147
mass: 2.5
max_linear_kick_speed: 8
max_chip_kick_speed: 8
center_to_dribbler: 0.075
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.074
dribbler_width: 0.05
"Tritons RCSC":
radius: 0.09
height: 0.15
mass: 2.27
max_linear_kick_speed: 6.5
max_chip_kick_speed: 6.5
center_to_dribbler: 0.065
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
# 4.46 is a theorectial max, the stable speed is 3.12
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.058
dribbler_width: 0.064
"KgpKubs":
radius: 0.085
height: 0.147
mass: 2.5
max_linear_kick_speed: 7
max_chip_kick_speed: 7
center_to_dribbler: 0.075
limits:
acc_speedup_absolute_max: 4.7
acc_speedup_angular_max: 50.8
acc_brake_absolute_max: 5.9
acc_brake_angular_max: 51.6
vel_absolute_max: 3.7
vel_angular_max: 26.2
custom_erforce:
shoot_radius: 0.074
dribbler_width: 0.05