diff --git a/cmd/ssl-simulation-controller/main.go b/cmd/ssl-simulation-controller/main.go
index 42f1668..47ae603 100644
--- a/cmd/ssl-simulation-controller/main.go
+++ b/cmd/ssl-simulation-controller/main.go
@@ -12,10 +12,11 @@ var visionAddress = flag.String("visionAddress", "224.5.23.2:10006", "The addres
 var trackerAddress = flag.String("trackerAddress", "224.5.23.2:10010", "The address (ip+port) from which tracker packages are received")
 var refereeAddress = flag.String("refereeAddress", "224.5.23.1:10003", "The address (ip+port) from which referee packages are received")
 var simControlPort = flag.String("simControlPort", "10300", "The port to which simulation control packets are send")
+var robotSpecConfig = flag.String("robotSpecConfig", "config/robot-specs.yaml", "The robot specs config file")
 
 func main() {
 	flag.Parse()
-	ctl := simctl.NewSimulationController(*visionAddress, *refereeAddress, *trackerAddress, *simControlPort)
+	ctl := simctl.NewSimulationController(*visionAddress, *refereeAddress, *trackerAddress, *simControlPort, *robotSpecConfig)
 	ctl.Start()
 
 	signals := make(chan os.Signal, 1)
diff --git a/config/robot-specs.yaml b/config/robot-specs.yaml
new file mode 100644
index 0000000..c8ced85
--- /dev/null
+++ b/config/robot-specs.yaml
@@ -0,0 +1,29 @@
+robot-specs:
+  "TIGERs Mannheim":
+    radius: 0.09
+    height: 0.15
+    mass: 2
+    max_linear_kick_speed: 8
+    max_chip_kick_speed: 8
+    center_to_dribbler: 0.073
+    limits:
+      acc_speedup_absolute_max: 3
+      acc_speedup_angular_max: 50
+      acc_brake_absolute_max: 6
+      acc_brake_angular_max: 50
+      vel_absolute_max: 3
+      vel_angular_max: 20
+  "ER-Force":
+    radius: 0.09
+    height: 0.15
+    mass: 2
+    max_linear_kick_speed: 8
+    max_chip_kick_speed: 8
+    center_to_dribbler: 0.073
+    limits:
+      acc_speedup_absolute_max: 3
+      acc_speedup_angular_max: 50
+      acc_brake_absolute_max: 6
+      acc_brake_angular_max: 50
+      vel_absolute_max: 3
+      vel_angular_max: 20
\ No newline at end of file
diff --git a/go.mod b/go.mod
index ed15868..1620f9c 100644
--- a/go.mod
+++ b/go.mod
@@ -5,4 +5,5 @@ go 1.15
 require (
 	github.com/golang/protobuf v1.4.3
 	google.golang.org/protobuf v1.25.0
+	gopkg.in/yaml.v2 v2.4.0
 )
diff --git a/go.sum b/go.sum
index 2384568..0133b5b 100644
--- a/go.sum
+++ b/go.sum
@@ -63,5 +63,9 @@ google.golang.org/protobuf v1.23.0/go.mod h1:EGpADcykh3NcUnDUJcl1+ZksZNG86OlYog2
 google.golang.org/protobuf v1.23.1-0.20200526195155-81db48ad09cc/go.mod h1:EGpADcykh3NcUnDUJcl1+ZksZNG86OlYog2l/sGQquU=
 google.golang.org/protobuf v1.25.0 h1:Ejskq+SyPohKW+1uil0JJMtmHCgJPJ/qWTxr8qp+R4c=
 google.golang.org/protobuf v1.25.0/go.mod h1:9JNX74DMeImyA3h4bdi1ymwjUzf21/xIlbajtzgsN7c=
+gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
+gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
+gopkg.in/yaml.v2 v2.4.0 h1:D8xgwECY7CYvx+Y2n4sBz93Jn9JRvxdiyyo8CTfuKaY=
+gopkg.in/yaml.v2 v2.4.0/go.mod h1:RDklbk79AGWmwhnvt/jBztapEOGDOx6ZbXqjP6csGnQ=
 honnef.co/go/tools v0.0.0-20190102054323-c2f93a96b099/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=
 honnef.co/go/tools v0.0.0-20190523083050-ea95bdfd59fc/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=
diff --git a/internal/geom/ssl_gc_geometry.pb.go b/internal/geom/ssl_gc_geometry.pb.go
index b25e3ae..3b791cc 100644
--- a/internal/geom/ssl_gc_geometry.pb.go
+++ b/internal/geom/ssl_gc_geometry.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_gc_geometry.proto
 
 package geom
diff --git a/internal/referee/ssl_gc_common.pb.go b/internal/referee/ssl_gc_common.pb.go
index 430d240..1d3c5dc 100644
--- a/internal/referee/ssl_gc_common.pb.go
+++ b/internal/referee/ssl_gc_common.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_gc_common.proto
 
 package referee
diff --git a/internal/referee/ssl_gc_game_event.pb.go b/internal/referee/ssl_gc_game_event.pb.go
index 4232199..853f1af 100644
--- a/internal/referee/ssl_gc_game_event.pb.go
+++ b/internal/referee/ssl_gc_game_event.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_gc_game_event.proto
 
 package referee
diff --git a/internal/referee/ssl_gc_referee_message.pb.go b/internal/referee/ssl_gc_referee_message.pb.go
index 121f14c..8b499b9 100644
--- a/internal/referee/ssl_gc_referee_message.pb.go
+++ b/internal/referee/ssl_gc_referee_message.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_gc_referee_message.proto
 
 package referee
diff --git a/internal/simctl/robot_specs.go b/internal/simctl/robot_specs.go
new file mode 100644
index 0000000..9049e15
--- /dev/null
+++ b/internal/simctl/robot_specs.go
@@ -0,0 +1,115 @@
+package simctl
+
+import (
+	"github.com/RoboCup-SSL/ssl-simulation-controller/internal/referee"
+	"github.com/golang/protobuf/proto"
+	"gopkg.in/yaml.v2"
+	"io/ioutil"
+	"log"
+)
+
+type TeamRobotSpecs struct {
+	Teams map[string]RobotSpec `yaml:"robot-specs"`
+}
+
+type RobotSpec struct {
+	Radius             float32 `yaml:"radius"`
+	Height             float32 `yaml:"height"`
+	Mass               float32 `yaml:"mass"`
+	MaxLinearKickSpeed float32 `yaml:"max_linear_kick_speed"`
+	MaxChipKickSpeed   float32 `yaml:"max_chip_kick_speed"`
+	CenterToDribbler   float32 `yaml:"center_to_dribbler"`
+	Limits             Limits  `yaml:"limits"`
+}
+
+type Limits struct {
+	AccSpeedupAbsoluteMax float32 `yaml:"acc_speedup_absolute_max,omitempty"`
+	AccSpeedupAngularMax  float32 `yaml:"acc_speedup_angular_max,omitempty"`
+	AccBrakeAbsoluteMax   float32 `yaml:"acc_brake_absolute_max,omitempty"`
+	AccBrakeAngularMax    float32 `yaml:"acc_brake_angular_max,omitempty"`
+	VelAbsoluteMax        float32 `yaml:"vel_absolute_max,omitempty"`
+	VelAngularMax         float32 `yaml:"vel_angular_max,omitempty"`
+}
+
+type RobotSpecSetter struct {
+	c *SimulationController
+
+	teamRobotSpecs TeamRobotSpecs
+	appliedTeams   map[referee.Team]string
+}
+
+func (r *RobotSpecSetter) LoadRobotSpecs(configFile string) {
+	data, err := ioutil.ReadFile(configFile)
+	if err != nil {
+		log.Println("Could not read robot spec file: ", err)
+	}
+	if err := yaml.Unmarshal(data, &r.teamRobotSpecs); err != nil {
+		log.Println("Could not unmarshal robot spec file: ", err)
+	}
+	r.appliedTeams = map[referee.Team]string{}
+}
+
+func (r *RobotSpecSetter) handleRobotSpecs() {
+	if *r.c.lastRefereeMsg.Command != referee.Referee_HALT {
+		// Only during HALT
+		return
+	}
+
+	r.updateTeam(referee.Team_BLUE, *r.c.lastRefereeMsg.Blue.Name)
+	r.updateTeam(referee.Team_YELLOW, *r.c.lastRefereeMsg.Yellow.Name)
+}
+
+func (r *RobotSpecSetter) updateTeam(team referee.Team, teamName string) {
+	if r.appliedTeams[team] != teamName {
+		if spec, ok := r.teamRobotSpecs.Teams[teamName]; ok {
+			protoSpec := mapRobotSpec(spec)
+			protoSpec.Id = new(referee.RobotId)
+			protoSpec.Id.Id = new(uint32)
+			protoSpec.Id.Team = new(referee.Team)
+			*protoSpec.Id.Id = 0
+			*protoSpec.Id.Team = team
+			r.sendConfig(protoSpec)
+			r.appliedTeams[team] = teamName
+		}
+	}
+}
+
+func (r *RobotSpecSetter) sendConfig(robotSpec *RobotSpecs) {
+	log.Printf("Sending robot spec %v", robotSpec)
+
+	command := SimulatorCommand{
+		Config: &SimulatorConfig{
+			RobotSpecs: []*RobotSpecs{
+				robotSpec,
+			}},
+	}
+
+	if data, err := proto.Marshal(&command); err != nil {
+		log.Println("Could not marshal command: ", err)
+	} else {
+		r.c.simControlClient.Send(data)
+	}
+}
+
+func mapRobotSpec(spec RobotSpec) (protoSpec *RobotSpecs) {
+	protoSpec = new(RobotSpecs)
+	protoSpec.Radius = &spec.Radius
+	protoSpec.Height = &spec.Height
+	protoSpec.Mass = &spec.Mass
+	protoSpec.MaxLinearKickSpeed = &spec.MaxLinearKickSpeed
+	protoSpec.MaxChipKickSpeed = &spec.MaxChipKickSpeed
+	protoSpec.CenterToDribbler = &spec.CenterToDribbler
+	protoSpec.Limits = mapRobotLimits(spec.Limits)
+	return
+}
+
+func mapRobotLimits(limits Limits) (protoLimits *RobotLimits) {
+	protoLimits = new(RobotLimits)
+	protoLimits.AccSpeedupAbsoluteMax = &limits.AccSpeedupAbsoluteMax
+	protoLimits.AccSpeedupAngularMax = &limits.AccSpeedupAngularMax
+	protoLimits.AccBrakeAbsoluteMax = &limits.AccBrakeAbsoluteMax
+	protoLimits.AccBrakeAngularMax = &limits.AccBrakeAngularMax
+	protoLimits.VelAbsoluteMax = &limits.VelAbsoluteMax
+	protoLimits.VelAngularMax = &limits.VelAngularMax
+	return
+}
diff --git a/internal/simctl/simctl.go b/internal/simctl/simctl.go
index f8751a1..e2ed488 100644
--- a/internal/simctl/simctl.go
+++ b/internal/simctl/simctl.go
@@ -24,9 +24,10 @@ type SimulationController struct {
 
 	ballReplacer         BallReplacer
 	robotCountMaintainer RobotCountMaintainer
+	robotSpecsSetter     RobotSpecSetter
 }
 
-func NewSimulationController(visionAddress, refereeAddress, trackerAddress string, simControlPort string) (c *SimulationController) {
+func NewSimulationController(visionAddress, refereeAddress, trackerAddress, simControlPort, robotSpecConfig string) (c *SimulationController) {
 	c = new(SimulationController)
 	c.visionServer = sslnet.NewMulticastServer(visionAddress, c.onNewVisionData)
 	c.refereeServer = sslnet.NewMulticastServer(refereeAddress, c.onNewRefereeData)
@@ -34,6 +35,8 @@ func NewSimulationController(visionAddress, refereeAddress, trackerAddress strin
 	c.simControlPort = simControlPort
 	c.ballReplacer.c = c
 	c.robotCountMaintainer.c = c
+	c.robotSpecsSetter.c = c
+	c.robotSpecsSetter.LoadRobotSpecs(robotSpecConfig)
 	return
 }
 
@@ -101,6 +104,7 @@ func (c *SimulationController) handle() {
 
 	c.ballReplacer.handleReplaceBall()
 	c.robotCountMaintainer.handleRobotCount()
+	c.robotSpecsSetter.handleRobotSpecs()
 }
 
 func (c *SimulationController) Start() {
diff --git a/internal/simctl/ssl_simulation_config.pb.go b/internal/simctl/ssl_simulation_config.pb.go
index 55e8e0d..56c2101 100644
--- a/internal/simctl/ssl_simulation_config.pb.go
+++ b/internal/simctl/ssl_simulation_config.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_simulation_config.proto
 
 package simctl
@@ -10,9 +10,9 @@ import (
 	referee "github.com/RoboCup-SSL/ssl-simulation-controller/internal/referee"
 	vision "github.com/RoboCup-SSL/ssl-simulation-controller/internal/vision"
 	proto "github.com/golang/protobuf/proto"
-	any "github.com/golang/protobuf/ptypes/any"
 	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
 	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	anypb "google.golang.org/protobuf/types/known/anypb"
 	reflect "reflect"
 	sync "sync"
 )
@@ -218,14 +218,14 @@ type RobotSpecs struct {
 	MaxLinearKickSpeed *float32 `protobuf:"fixed32,7,opt,name=max_linear_kick_speed,json=maxLinearKickSpeed" json:"max_linear_kick_speed,omitempty"`
 	// Max chip kick speed [m/s] (unset = unlimited)
 	MaxChipKickSpeed *float32 `protobuf:"fixed32,8,opt,name=max_chip_kick_speed,json=maxChipKickSpeed" json:"max_chip_kick_speed,omitempty"`
-	// Width of the dribbler [m] (implicitly defines the distance from robot center to dribbler and opening angle)
-	DribblerWidth *float32 `protobuf:"fixed32,9,opt,name=dribbler_width,json=dribblerWidth" json:"dribbler_width,omitempty"`
+	// Distance from robot center to dribbler [m] (implicitly defines the opening angle and dribbler width)
+	CenterToDribbler *float32 `protobuf:"fixed32,9,opt,name=center_to_dribbler,json=centerToDribbler" json:"center_to_dribbler,omitempty"`
 	// Movement limits
 	Limits *RobotLimits `protobuf:"bytes,10,opt,name=limits" json:"limits,omitempty"`
 	// Wheel angle configuration
 	WheelAngles *RobotWheelAngles `protobuf:"bytes,13,opt,name=wheel_angles,json=wheelAngles" json:"wheel_angles,omitempty"`
 	// Custom robot spec for specific simulators (the protobuf files are managed by the simulators)
-	Custom *any.Any `protobuf:"bytes,14,opt,name=custom" json:"custom,omitempty"`
+	Custom *anypb.Any `protobuf:"bytes,14,opt,name=custom" json:"custom,omitempty"`
 }
 
 // Default values for RobotSpecs fields.
@@ -308,9 +308,9 @@ func (x *RobotSpecs) GetMaxChipKickSpeed() float32 {
 	return 0
 }
 
-func (x *RobotSpecs) GetDribblerWidth() float32 {
-	if x != nil && x.DribblerWidth != nil {
-		return *x.DribblerWidth
+func (x *RobotSpecs) GetCenterToDribbler() float32 {
+	if x != nil && x.CenterToDribbler != nil {
+		return *x.CenterToDribbler
 	}
 	return 0
 }
@@ -329,7 +329,7 @@ func (x *RobotSpecs) GetWheelAngles() *RobotWheelAngles {
 	return nil
 }
 
-func (x *RobotSpecs) GetCustom() *any.Any {
+func (x *RobotSpecs) GetCustom() *anypb.Any {
 	if x != nil {
 		return x.Custom
 	}
@@ -342,7 +342,7 @@ type RealismConfig struct {
 	unknownFields protoimpl.UnknownFields
 
 	// Custom config for specific simulators (the protobuf files are managed by the simulators)
-	Custom *any.Any `protobuf:"bytes,1,opt,name=custom" json:"custom,omitempty"`
+	Custom *anypb.Any `protobuf:"bytes,1,opt,name=custom" json:"custom,omitempty"`
 }
 
 func (x *RealismConfig) Reset() {
@@ -377,7 +377,7 @@ func (*RealismConfig) Descriptor() ([]byte, []int) {
 	return file_ssl_simulation_config_proto_rawDescGZIP(), []int{3}
 }
 
-func (x *RealismConfig) GetCustom() *any.Any {
+func (x *RealismConfig) GetCustom() *anypb.Any {
 	if x != nil {
 		return x.Custom
 	}
@@ -464,87 +464,78 @@ var File_ssl_simulation_config_proto protoreflect.FileDescriptor
 
 var file_ssl_simulation_config_proto_rawDesc = []byte{
 	0x0a, 0x1b, 0x73, 0x73, 0x6c, 0x5f, 0x73, 0x69, 0x6d, 0x75, 0x6c, 0x61, 0x74, 0x69, 0x6f, 0x6e,
-	0x5f, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x2e, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x12, 0x1d, 0x65,
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+	0x52, 0x6f, 0x62, 0x6f, 0x74, 0x53, 0x70, 0x65, 0x63, 0x73, 0x52, 0x0a, 0x72, 0x6f, 0x62, 0x6f,
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 	0x2e, 0x52, 0x65, 0x61, 0x6c, 0x69, 0x73, 0x6d, 0x43, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x52, 0x0d,
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 	0x0b, 0x76, 0x69, 0x73, 0x69, 0x6f, 0x6e, 0x5f, 0x70, 0x6f, 0x72, 0x74, 0x18, 0x04, 0x20, 0x01,
@@ -570,24 +561,24 @@ func file_ssl_simulation_config_proto_rawDescGZIP() []byte {
 
 var file_ssl_simulation_config_proto_msgTypes = make([]protoimpl.MessageInfo, 5)
 var file_ssl_simulation_config_proto_goTypes = []interface{}{
-	(*RobotLimits)(nil),             // 0: edu.tigers.sumatra.simulation.RobotLimits
-	(*RobotWheelAngles)(nil),        // 1: edu.tigers.sumatra.simulation.RobotWheelAngles
-	(*RobotSpecs)(nil),              // 2: edu.tigers.sumatra.simulation.RobotSpecs
-	(*RealismConfig)(nil),           // 3: edu.tigers.sumatra.simulation.RealismConfig
-	(*SimulatorConfig)(nil),         // 4: edu.tigers.sumatra.simulation.SimulatorConfig
+	(*RobotLimits)(nil),             // 0: RobotLimits
+	(*RobotWheelAngles)(nil),        // 1: RobotWheelAngles
+	(*RobotSpecs)(nil),              // 2: RobotSpecs
+	(*RealismConfig)(nil),           // 3: RealismConfig
+	(*SimulatorConfig)(nil),         // 4: SimulatorConfig
 	(*referee.RobotId)(nil),         // 5: RobotId
-	(*any.Any)(nil),                 // 6: google.protobuf.Any
+	(*anypb.Any)(nil),               // 6: google.protobuf.Any
 	(*vision.SSL_GeometryData)(nil), // 7: SSL_GeometryData
 }
 var file_ssl_simulation_config_proto_depIdxs = []int32{
-	5, // 0: edu.tigers.sumatra.simulation.RobotSpecs.id:type_name -> RobotId
-	0, // 1: edu.tigers.sumatra.simulation.RobotSpecs.limits:type_name -> edu.tigers.sumatra.simulation.RobotLimits
-	1, // 2: edu.tigers.sumatra.simulation.RobotSpecs.wheel_angles:type_name -> edu.tigers.sumatra.simulation.RobotWheelAngles
-	6, // 3: edu.tigers.sumatra.simulation.RobotSpecs.custom:type_name -> google.protobuf.Any
-	6, // 4: edu.tigers.sumatra.simulation.RealismConfig.custom:type_name -> google.protobuf.Any
-	7, // 5: edu.tigers.sumatra.simulation.SimulatorConfig.geometry:type_name -> SSL_GeometryData
-	2, // 6: edu.tigers.sumatra.simulation.SimulatorConfig.robot_specs:type_name -> edu.tigers.sumatra.simulation.RobotSpecs
-	3, // 7: edu.tigers.sumatra.simulation.SimulatorConfig.realism_config:type_name -> edu.tigers.sumatra.simulation.RealismConfig
+	5, // 0: RobotSpecs.id:type_name -> RobotId
+	0, // 1: RobotSpecs.limits:type_name -> RobotLimits
+	1, // 2: RobotSpecs.wheel_angles:type_name -> RobotWheelAngles
+	6, // 3: RobotSpecs.custom:type_name -> google.protobuf.Any
+	6, // 4: RealismConfig.custom:type_name -> google.protobuf.Any
+	7, // 5: SimulatorConfig.geometry:type_name -> SSL_GeometryData
+	2, // 6: SimulatorConfig.robot_specs:type_name -> RobotSpecs
+	3, // 7: SimulatorConfig.realism_config:type_name -> RealismConfig
 	8, // [8:8] is the sub-list for method output_type
 	8, // [8:8] is the sub-list for method input_type
 	8, // [8:8] is the sub-list for extension type_name
diff --git a/internal/simctl/ssl_simulation_control.pb.go b/internal/simctl/ssl_simulation_control.pb.go
index 48d4b4a..134c491 100644
--- a/internal/simctl/ssl_simulation_control.pb.go
+++ b/internal/simctl/ssl_simulation_control.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_simulation_control.proto
 
 package simctl
@@ -490,27 +490,25 @@ var file_ssl_simulation_control_proto_rawDesc = []byte{
 	0x70, 0x6f, 0x72, 0x74, 0x52, 0x6f, 0x62, 0x6f, 0x74, 0x12, 0x29, 0x0a, 0x10, 0x73, 0x69, 0x6d,
 	0x75, 0x6c, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x5f, 0x73, 0x70, 0x65, 0x65, 0x64, 0x18, 0x03, 0x20,
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+	0x20, 0x01, 0x28, 0x0b, 0x32, 0x10, 0x2e, 0x53, 0x69, 0x6d, 0x75, 0x6c, 0x61, 0x74, 0x6f, 0x72,
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+	0x03, 0x28, 0x0b, 0x32, 0x2d, 0x2e, 0x65, 0x64, 0x75, 0x2e, 0x74, 0x69, 0x67, 0x65, 0x72, 0x73,
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+	0x69, 0x6f, 0x6e, 0x2e, 0x53, 0x69, 0x6d, 0x75, 0x6c, 0x61, 0x74, 0x6f, 0x72, 0x45, 0x72, 0x72,
+	0x6f, 0x72, 0x52, 0x06, 0x65, 0x72, 0x72, 0x6f, 0x72, 0x73, 0x42, 0x42, 0x5a, 0x40, 0x67, 0x69,
+	0x74, 0x68, 0x75, 0x62, 0x2e, 0x63, 0x6f, 0x6d, 0x2f, 0x52, 0x6f, 0x62, 0x6f, 0x43, 0x75, 0x70,
+	0x2d, 0x53, 0x53, 0x4c, 0x2f, 0x73, 0x73, 0x6c, 0x2d, 0x73, 0x69, 0x6d, 0x75, 0x6c, 0x61, 0x74,
+	0x69, 0x6f, 0x6e, 0x2d, 0x63, 0x6f, 0x6e, 0x74, 0x72, 0x6f, 0x6c, 0x6c, 0x65, 0x72, 0x2f, 0x69,
+	0x6e, 0x74, 0x65, 0x72, 0x6e, 0x61, 0x6c, 0x2f, 0x73, 0x69, 0x6d, 0x63, 0x74, 0x6c,
 }
 
 var (
@@ -533,7 +531,7 @@ var file_ssl_simulation_control_proto_goTypes = []interface{}{
 	(*SimulatorCommand)(nil),  // 3: edu.tigers.sumatra.simulation.SimulatorCommand
 	(*SimulatorResponse)(nil), // 4: edu.tigers.sumatra.simulation.SimulatorResponse
 	(*referee.RobotId)(nil),   // 5: RobotId
-	(*SimulatorConfig)(nil),   // 6: edu.tigers.sumatra.simulation.SimulatorConfig
+	(*SimulatorConfig)(nil),   // 6: SimulatorConfig
 	(*SimulatorError)(nil),    // 7: edu.tigers.sumatra.simulation.SimulatorError
 }
 var file_ssl_simulation_control_proto_depIdxs = []int32{
@@ -541,7 +539,7 @@ var file_ssl_simulation_control_proto_depIdxs = []int32{
 	0, // 1: edu.tigers.sumatra.simulation.SimulatorControl.teleport_ball:type_name -> edu.tigers.sumatra.simulation.TeleportBall
 	1, // 2: edu.tigers.sumatra.simulation.SimulatorControl.teleport_robot:type_name -> edu.tigers.sumatra.simulation.TeleportRobot
 	2, // 3: edu.tigers.sumatra.simulation.SimulatorCommand.control:type_name -> edu.tigers.sumatra.simulation.SimulatorControl
-	6, // 4: edu.tigers.sumatra.simulation.SimulatorCommand.config:type_name -> edu.tigers.sumatra.simulation.SimulatorConfig
+	6, // 4: edu.tigers.sumatra.simulation.SimulatorCommand.config:type_name -> SimulatorConfig
 	7, // 5: edu.tigers.sumatra.simulation.SimulatorResponse.errors:type_name -> edu.tigers.sumatra.simulation.SimulatorError
 	6, // [6:6] is the sub-list for method output_type
 	6, // [6:6] is the sub-list for method input_type
diff --git a/internal/simctl/ssl_simulation_error.pb.go b/internal/simctl/ssl_simulation_error.pb.go
index da2f903..f613b89 100644
--- a/internal/simctl/ssl_simulation_error.pb.go
+++ b/internal/simctl/ssl_simulation_error.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_simulation_error.proto
 
 package simctl
diff --git a/internal/tracker/ssl_vision_detection_tracked.pb.go b/internal/tracker/ssl_vision_detection_tracked.pb.go
index 348b311..37775a2 100644
--- a/internal/tracker/ssl_vision_detection_tracked.pb.go
+++ b/internal/tracker/ssl_vision_detection_tracked.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_vision_detection_tracked.proto
 
 package tracker
diff --git a/internal/tracker/ssl_vision_wrapper_tracked.pb.go b/internal/tracker/ssl_vision_wrapper_tracked.pb.go
index 2962827..ef7fcfe 100644
--- a/internal/tracker/ssl_vision_wrapper_tracked.pb.go
+++ b/internal/tracker/ssl_vision_wrapper_tracked.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_vision_wrapper_tracked.proto
 
 package tracker
diff --git a/internal/vision/ssl_vision_detection.pb.go b/internal/vision/ssl_vision_detection.pb.go
index d935459..07831f2 100644
--- a/internal/vision/ssl_vision_detection.pb.go
+++ b/internal/vision/ssl_vision_detection.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_vision_detection.proto
 
 package vision
diff --git a/internal/vision/ssl_vision_geometry.pb.go b/internal/vision/ssl_vision_geometry.pb.go
index fb0e6c3..3196b59 100644
--- a/internal/vision/ssl_vision_geometry.pb.go
+++ b/internal/vision/ssl_vision_geometry.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_vision_geometry.proto
 
 package vision
diff --git a/internal/vision/ssl_vision_wrapper.pb.go b/internal/vision/ssl_vision_wrapper.pb.go
index 95d7d26..33377bd 100644
--- a/internal/vision/ssl_vision_wrapper.pb.go
+++ b/internal/vision/ssl_vision_wrapper.pb.go
@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
 // 	protoc-gen-go v1.25.0
-// 	protoc        v3.12.4
+// 	protoc        v3.15.6
 // source: ssl_vision_wrapper.proto
 
 package vision
diff --git a/proto/ssl_simulation_config.proto b/proto/ssl_simulation_config.proto
index f7f84c7..5913632 100644
--- a/proto/ssl_simulation_config.proto
+++ b/proto/ssl_simulation_config.proto
@@ -1,6 +1,5 @@
 syntax = "proto2";
 option go_package = "github.com/RoboCup-SSL/ssl-simulation-controller/internal/simctl";
-package edu.tigers.sumatra.simulation;
 
 import "ssl_gc_common.proto";
 import "ssl_vision_geometry.proto";
@@ -50,8 +49,8 @@ message RobotSpecs {
     optional float max_linear_kick_speed = 7;
     // Max chip kick speed [m/s] (unset = unlimited)
     optional float max_chip_kick_speed = 8;
-    // Width of the dribbler [m] (implicitly defines the distance from robot center to dribbler and opening angle)
-    optional float dribbler_width = 9;
+    // 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