Protocol Documentation

Version: 1.7

idl/grpc/service.proto
Scalar Value Types

idl/grpc/service.proto

ActionTypeEffector

ActionTypeEffector is the message that represents coefficients of the action types in the tree to calculate the predicted state evaluation. Each number should start from 0.0. For example, if evaluation of an action-state is 10, the action is direct pass, and value of direct_pass is 0.5, so the final evaluation of the action-state will be 5. example in python grpc:

actions = []
action_type_effector = pb2.ActionTypeEffector(
direct_pass=2.0,
lead_pass=1.5,
through_pass=1.0,
short_dribble=1.0,
long_dribble=1.0,
cross=1.0,
hold=1.0
)
planner_evaluation_effector = pb2.PlannerEvaluationEffector(
# opponent_effector= ...
# teammate_effector= ...
action_type_effector= action_type_effector
)
planner_evaluation = pb2.PlannerEvaluation(
effectors=planner_evaluation_effector,
)
helios_offensive_planner = pb2.HeliosOffensivePlanner(
lead_pass=True,
direct_pass=False,
through_pass=True,
simple_pass=True,
short_dribble=True,
long_dribble=True,
simple_shoot=True,
simple_dribble=False,
cross=True,
server_side_decision=False,
max_depth=5,
max_nodes=800,
evalution=planner_evaluation
)
actions.append(pb2.PlayerAction(helios_offensive_planner=helios_offensive_planner))
return pb2.PlayerActions(actions=actions)

Field	Type	Description
direct_pass	float	The coefficient of the direct pass action.
lead_pass	float	The coefficient of the lead pass action.
through_pass	float	The coefficient of the through pass action.
short_dribble	float	The coefficient of the short dribble action.
long_dribble	float	The coefficient of the long dribble action.
cross	float	The coefficient of the cross action.
hold	float	The coefficient of the hold action.

AddArc

Field	Type	Label	Description
level	LoggerLevel
center	RpcVector2D
radius	float
start_angle	float
span_angel	float
color	string

AddCircle

Field	Type	Label	Description
level	LoggerLevel
center	RpcVector2D
radius	float
color	string
fill	bool

AddLine

Field	Type	Label	Description
level	LoggerLevel
start	RpcVector2D
end	RpcVector2D
color	string

AddMessage

Field	Type	Label	Description
level	LoggerLevel
position	RpcVector2D
message	string
color	string

AddPoint

Field	Type	Label	Description
level	LoggerLevel
point	RpcVector2D
color	string

AddRectangle

Field	Type	Label	Description
level	LoggerLevel
left	float
top	float
length	float
width	float
color	string
fill	bool

AddSector

Field	Type	Label	Description
level	LoggerLevel
center	RpcVector2D
min_radius	float
max_radius	float
start_angle	float
span_angel	float
color	string
fill	bool

AddText

Field	Type	Label	Description
level	LoggerLevel
message	string

AddTriangle

Field	Type	Label	Description
level	LoggerLevel
point1	RpcVector2D
point2	RpcVector2D
point3	RpcVector2D
color	string
fill	bool

AttentionTo

Field	Type	Label	Description
side	Side
unum	int32

AttentionToOf

Ball

Ball is the message that represents the ball in the soccer simulation.

Field	Type	Description
position	RpcVector2D	The position of the ball.
relative_position	RpcVector2D	The relative position of the ball to the agent who is sending the message.
seen_position	RpcVector2D	The position of the ball that the agent has seen.
heard_position	RpcVector2D	The position of the ball that the agent has heard.
velocity	RpcVector2D	The velocity of the ball.
seen_velocity	RpcVector2D	The velocity of the ball that the agent has seen.
heard_velocity	RpcVector2D	The velocity of the ball that the agent has heard.
pos_count	int32	How many cycles ago the agent has seen or heard the ball.
seen_pos_count	int32	How many cycles ago the agent has seen the ball.
heard_pos_count	int32	How many cycles ago the agent has heard the ball.
vel_count	int32	How many cycles ago the agent has seen or heard the velocity of the ball.
seen_vel_count	int32	How many cycles ago the agent has seen the velocity of the ball.
heard_vel_count	int32	How many cycles ago the agent has heard the velocity of the ball.
lost_count	int32	How many cycles ago the agent has lost the ball.
ghost_count	int32
dist_from_self	float	The distance of the ball from the agent who is sending the message.
angle_from_self	float	The angle of the ball from the agent who is sending the message.

BallGoalieMessage

Field	Type	Label	Description
ball_position	RpcVector2D
ball_velocity	RpcVector2D
goalie_position	RpcVector2D
goalie_body_direction	float

BallMessage

Field	Type	Label	Description
ball_position	RpcVector2D
ball_velocity	RpcVector2D

BallPlayerMessage

Field	Type	Label	Description
ball_position	RpcVector2D
ball_velocity	RpcVector2D
uniform_number	int32
player_position	RpcVector2D
body_direction	float

BestPlannerActionRequest

Field	Type	Label
register_response	RegisterResponse
pairs	BestPlannerActionRequest.PairsEntry	repeated
state	State

BestPlannerActionRequest.PairsEntry

Field	Type	Label	Description
key	int32
value	RpcActionState

BestPlannerActionResponse

Field	Type	Label	Description
index	int32

Bhv_BeforeKickOff

Field	Type	Label	Description
point	RpcVector2D

Bhv_BodyNeckToBall

Bhv_BodyNeckToPoint

Field	Type	Label	Description
point	RpcVector2D

Bhv_Emergency

Bhv_GoToPointLookBall

Field	Type	Label	Description
target_point	RpcVector2D
distance_threshold	float
max_dash_power	float

Bhv_NeckBodyToBall

Field	Type	Label	Description
angle_buf	float

Bhv_NeckBodyToPoint

Field	Type	Label	Description
point	RpcVector2D
angle_buf	float

Bhv_ScanField

Body_AdvanceBall

Body_ClearBall

Body_Dribble

Field	Type	Label	Description
target_point	RpcVector2D
distance_threshold	float
dash_power	float
dash_count	int32
dodge	bool

Body_GoToPoint

todo more variables

Field	Type	Label	Description
target_point	RpcVector2D
distance_threshold	float
max_dash_power	float

Body_GoToPointDodge

Field	Type	Label	Description
target_point	RpcVector2D
dash_power	float

Body_HoldBall

Field	Type	Label	Description
do_turn	bool
turn_target_point	RpcVector2D
kick_target_point	RpcVector2D

Body_Intercept

Field	Type	Label	Description
save_recovery	bool
face_point	RpcVector2D

Body_KickOneStep

Field	Type	Label	Description
target_point	RpcVector2D
first_speed	float
force_mode	bool

Body_SmartKick

todo more variables

Field	Type	Label	Description
target_point	RpcVector2D
first_speed	float
first_speed_threshold	float
max_steps	int32

Body_StopBall

Body_StopDash

Field	Type	Label	Description
save_recovery	bool

Body_TackleToPoint

Field	Type	Label	Description
target_point	RpcVector2D
min_probability	float
min_speed	float

Body_TurnToAngle

Field	Type	Label	Description
angle	float

Body_TurnToBall

Field	Type	Label	Description
cycle	int32

Body_TurnToPoint

Field	Type	Label	Description
target_point	RpcVector2D
cycle	int32

Catch

ChangePlayerType

Field	Type	Label	Description
uniform_number	int32
type	int32

ChangeView

Field	Type	Label	Description
view_width	ViewWidth

CoachAction

Field	Type	Label	Description
change_player_types	ChangePlayerType
do_helios_substitute	DoHeliosSubstitute
do_helios_say_player_types	DoHeliosSayPlayerTypes

CoachActions

Field	Type	Label	Description
actions	CoachAction	repeated

Dash

Dash is the message that represents the dash action in the soccer simulation. By using this action, agent can dash (run or walk) to a direction with a power. The rcssserver, calculates the next position and velocity of the agent based on current position, velocity, power and direction.

Field	Type	Label	Description
power	float		The power of the dash action. The power can be between -100 to 100. If the power is negative, the agent will dash in the backward direction by using two times of the power.
relative_direction	float		The relative direction of the dash action to the body direction of the agent. The direction can be between -180 to 180.

DebugClient

Field	Type	Label	Description
message	string

DefenseLineMessage

Field	Type	Label	Description
defense_line_x	float

DoChangeMode

Field	Type	Label	Description
game_mode_type	GameModeType
side	Side		some of the game mode need to know the side

DoChangePlayerType

Field	Type	Label	Description
our_side	bool
uniform_number	int32
type	int32

DoHeliosSayPlayerTypes

DoHeliosSubstitute

DoKickOff

DoMoveBall

Field	Type	Label	Description
position	RpcVector2D
velocity	RpcVector2D

DoMovePlayer

Field	Type	Label	Description
our_side	bool
uniform_number	int32
position	RpcVector2D
body_direction	float

DoRecover

DribbleMessage

Field	Type	Label	Description
target_point	RpcVector2D
queue_count	int32

Empty

Focus_MoveToPoint

Field	Type	Label	Description
target_point	RpcVector2D

Focus_Reset

GoalieAndPlayerMessage

Field	Type	Label	Description
goalie_uniform_number	int32
goalie_position	RpcVector2D
goalie_body_direction	float
player_uniform_number	int32
player_position	RpcVector2D

GoalieMessage

Field	Type	Label	Description
goalie_uniform_number	int32
goalie_position	RpcVector2D
goalie_body_direction	float

HeliosBasicMove

HeliosBasicOffensive

HeliosCommunicaion

HeliosFieldEvaluator

HeliosFieldEvaluator is the message that represents the field evaluator of the proxy agent to evaluate each node (predicted state) in the planner tree. If you dont set the field evaluator, the proxy agent will use the default field evaluator (HeliosFieldEvaluator) to evaluate each node in the planner tree. This field evaluator calculate the value of the predicted state by using this formula: value = x_coefficient * (ball.x + 52.5) + ball_dist_to_goal_coefficient * max(0.0, effective_max_ball_dist_to_goal - ball.dist(opponent goal center)) example in python grpc:

actions = []
helios_field_evaluator = pb2.HeliosFieldEvaluator(
x_coefficient=2.1,
ball_dist_to_goal_coefficient=1.8,
effective_max_ball_dist_to_goal=50.0
)
field_evaluator = pb2.PlannerFieldEvaluator(
helios_field_evaluator=helios_field_evaluator,
# matrix_field_evaluator=...
)
planner_evaluation = pb2.PlannerEvaluation(
field_evaluators=field_evaluator
)
helios_offensive_planner = pb2.HeliosOffensivePlanner(
lead_pass=True,
direct_pass=False,
through_pass=True,
simple_pass=True,
short_dribble=True,
long_dribble=True,
simple_shoot=True,
simple_dribble=False,
cross=True,
server_side_decision=False,
max_depth=5,
max_nodes=800,
evalution=planner_evaluation
)
actions.append(pb2.PlayerAction(helios_offensive_planner=helios_offensive_planner))
return pb2.PlayerActions(actions=actions)

Field	Type	Description
x_coefficient	float	The coefficient of the x-coordinate of the ball in the predicted state. The default value is 1.
ball_dist_to_goal_coefficient	float	The coefficient of the distance of the ball to the opponent goal center in the predicted state. The default value is 1.
effective_max_ball_dist_to_goal	float	The effective maximum distance of the ball to the opponent goal center in the predicted state. The default value is 40.0.

HeliosGoalie

HeliosGoalieKick

HeliosGoalieMove

HeliosOffensivePlanner

HeliosOffensivePlanner is the message that represents the offensive planner of the agent in the soccer simulation. The offensive planner is responsible for making decisions about the offensive actions of the agent by creating a tree of actions, finding the best chain of actions, and executing the first action in the chain, when the agent is ball owner. The best action is an action with best incomming predicted state. The best predicted state is the state that has the best evaluation value by using this formula: value = ball.x + max(0.0, 40.0 - ball.dist(opponent goal center)) Due to the complexity of the not simple actions, the agent can not calculate the best action in the first layer of the tree. So, the agent can use the simple actions in the first layer of the tree. To create the tree, the planner create all possible edges (actions) and create the next state of the agent by using each action. Then the planner starts to create the next layer of the tree by using the next state of the agent. The planner continues to create the tree until the max depth of the tree or number of edges is reached. For more information check this paper: HELIOS Base: An Open Source Package for the RoboCup Soccer 2D Simulation

Creating the tree and find best predicted state and action:

Field	Type	Description
direct_pass	bool	Whether the agent can make a direct pass or not. The direct pass is a pass action that the agent can pass the ball to the position of a teammate player. This action is just used in the first layer of the tree.
lead_pass	bool	Whether the agent can make a lead pass or not. The lead pass is a pass action that the agent can pass the ball to the position of a teammate player with a lead (very cloase to the teammate). This action is just used in the first layer of the tree.
through_pass	bool	Whether the agent can make a through pass or not. The through pass is a pass action that the agent can pass the ball to the position of a teammate player with a through (close or very far from the teammate, between teammates and opponent goal). This action is just used in the first layer of the tree.
short_dribble	bool	Whether the agent can make a short dribble or not. The short dribble is a dribble action that the agent can dribble the ball to a position. This action is just used in the first layer of the tree.
long_dribble	bool	Whether the agent can make a long dribble or not. The long dribble is a dribble action that the agent can dribble the ball to a position. This dribble is longer than the short dribble. This action is just used in the first layer of the tree
cross	bool	Whether the agent can make a cross or not. The cross is a kick action that the agent can kick the ball to the position close to teammate, but it does not care that the teammate can control the ball or not. This action is just used in the first layer of the tree.
simple_pass	bool	Whether the agent can make a simple pass or not. The simple pass is a pass action that the agent can pass the ball to the position of a teammate player. This action is just used in the second or more layers of the tree. This action is not very accurate.
simple_dribble	bool	Whether the agent can make a simple dribble or not. The simple dribble is a dribble action that the agent can dribble the ball to a position. This action is just used in the second or more layers of the tree. This action is not very accurate.
simple_shoot	bool	Whether the agent can make a simple shoot or not. The simple shoot is a kick action that the agent can kick the ball to the opponent goal. This action is just used in the second or more layers of the tree. This action is not very accurate.
server_side_decision	bool	If this value is true, the proxy agent, will create the tree and send all of the nodes to the playmaker server to choose the best action. If this value is false, the proxy agent will choose the best action by itself. The default value is false.
max_depth	int32	The maximum depth of the tree. The agent will create the tree with this depth. To create the first layer of the tree, the agent will use the direct_pass, lead_pass, through_pass, short_dribble, long_dribble, cross actions. The difault value is 4. So, if you do not set this value, the agent will create the tree with 4 depth. Due to the default value of rpc, 0 means the default value.
max_nodes	int32	The maximum number of nodes in the tree. The agent will create the tree with this number of nodes. The difault value is 500. So, if you do not set this value, the agent will create the tree with 500 nodes. Due to the default value of rpc, 0 means the default value.
evaluation	PlannerEvaluation	The evaluation methods to evaluate the actions[predicted states] in the tree.

HeliosPenalty

HeliosSetPlay

HeliosShoot

InitMessage

Field	Type	Label	Description
register_response	RegisterResponse
debug_mode	bool

InterceptInfo

InterceptInfo is the message that represents the information about an intercept action.

Field	Type	Description
action_type	InterceptActionType	The type of the intercept action.
turn_steps	int32	The number of steps that the agent needs to turn to the ball.
turn_angle	float	The angle that the agent needs to turn to the ball.
dash_steps	int32	The number of steps that the agent needs to dash to the ball.
dash_power	float	The power of the dash action.
dash_dir	float	The direction of the dash action to player's body direction.
final_self_position	RpcVector2D	The final position of the agent after the intercept action.
final_ball_dist	float	The final distance of the ball from the agent after the intercept action.
final_stamina	float	The final stamina of the agent after the intercept action.
value	float	The value of the intercept action. TODO less is better or more is better?

InterceptMessage

Field	Type	Label	Description
our	bool
uniform_number	int32
cycle	int32

InterceptTable

InterceptTable is the message that represents the intercept table of the agent.

Field	Type	Label	Description
self_reach_steps	int32		The number of steps that the agent needs to reach the ball.
first_teammate_reach_steps	int32		The number of steps that the first teammate needs to reach the ball.
second_teammate_reach_steps	int32		The number of steps that the second teammate needs to reach the ball.
first_opponent_reach_steps	int32		The number of steps that the first opponent needs to reach the ball.
second_opponent_reach_steps	int32		The number of steps that the second opponent needs to reach the ball.
first_teammate_id	int32		The ID of the first teammate. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no first teammate.
second_teammate_id	int32		The ID of the second teammate. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no second teammate.
first_opponent_id	int32		The ID of the first opponent. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no first opponent.
second_opponent_id	int32		The ID of the second opponent. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no second opponent.
self_intercept_info	InterceptInfo	repeated	The intercept information of the agent.

Kick

Field	Type	Label	Description
power	float
relative_direction	float

Log

Field	Type	Label	Description
add_text	AddText
add_point	AddPoint
add_line	AddLine
add_arc	AddArc
add_circle	AddCircle
add_triangle	AddTriangle
add_rectangle	AddRectangle
add_sector	AddSector
add_message	AddMessage

MatrixFieldEvaluator

MatrixFieldEvaluator is the message that represents the matrix field evaluator of the proxy agent to evaluate each node (predicted state) in the planner tree. If you dont set the field evaluator, the proxy agent will use the default field evaluator (HeliosFieldEvaluator) to evaluate each node in the planner tree. This field evaluator calculate the value of the predicted state by using a matrix of float values.

| 10 | 20 | 30 | 40 | | 15 | 25 | 35 | 45 | | 10 | 20 | 30 | 40 |

In this example matrix, the value of each point in the opponent pernaly area is 45. example in python grpc:

actions = []
matrix_field_evaluator = pb2.MatrixFieldEvaluator(
evals=[
pb2.MatrixFieldEvaluatorY(evals=[10, 15, 10]),
pb2.MatrixFieldEvaluatorY(evals=[20, 25, 20]),
pb2.MatrixFieldEvaluatorY(evals=[30, 35, 30]),
pb2.MatrixFieldEvaluatorY(evals=[40, 45, 40]),
]
)
field_evaluator = pb2.PlannerFieldEvaluator(
# helios_field_evaluator=...
matrix_field_evaluator=matrix_field_evaluator
)
planner_evaluation = pb2.PlannerEvaluation(
field_evaluators=field_evaluator
)
helios_offensive_planner = pb2.HeliosOffensivePlanner(
lead_pass=True,
direct_pass=False,
through_pass=True,
simple_pass=True,
short_dribble=True,
long_dribble=True,
simple_shoot=True,
simple_dribble=False,
cross=True,
server_side_decision=False,
max_depth=5,
max_nodes=800,
evalution=planner_evaluation
)
actions.append(pb2.PlayerAction(helios_offensive_planner=helios_offensive_planner))
return pb2.PlayerActions(actions=actions)

Field	Type	Label	Description
evals	MatrixFieldEvaluatorY	repeated

MatrixFieldEvaluatorY

Field	Type	Label	Description
evals	float	repeated

Move

Field	Type	Label	Description
x	float
y	float

Neck_ScanField

Neck_ScanPlayers

todo min/max_angle

Neck_TurnToBall

Neck_TurnToBallAndPlayer

Field	Type	Label	Description
side	Side
uniform_number	int32
count_threshold	int32

Neck_TurnToBallOrScan

Field	Type	Label	Description
count_threshold	int32

Neck_TurnToGoalieOrScan

Field	Type	Label	Description
count_threshold	int32

Neck_TurnToLowConfTeammate

Neck_TurnToPlayerOrScan

Field	Type	Label	Description
side	Side
uniform_number	int32
count_threshold	int32

Neck_TurnToPoint

Field	Type	Label	Description
target_point	RpcVector2D

Neck_TurnToRelative

Field	Type	Label	Description
angle	float

OffsideLineMessage

Field	Type	Label	Description
offside_line_x	float

OnePlayerMessage

Field	Type	Label	Description
uniform_number	int32
position	RpcVector2D

OpponentEffector

PlannerEvaluation is the message that represents the evaluation methods to evaluate the actions[predicted states] in the tree. Using this method causes the predicted state eval to be decreased based on the distance or reach steps of the opponent players to the position of the ball in the predicted state. Each variable in the message is a list of float values. For example, if you want to decrease the predicted state eval if the distance of the opponent player to the ball is less than 5, You can set the negetive_effect_by_distance variable with the value of [-9.0, -8.5, -7.2, -6.1, -3.8]. It means the predicted state eval will be decreased by 9.0 if the distance is less than 1, 8.5 if the distance is less than 2, 7.2 if the distance is less than 3, 6.1 if the distance is less than 4, 3.8 if the distance is less than 5. Example in python grpc:

actions = []
opponent_effector = pb2.OpponentEffector(
negetive_effect_by_distance=[-50, -45, -40, -30, -20, -15, -10, -5, -2, -1, -0.5, -0.1],
negetive_effect_by_distance_based_on_first_layer=False,
negetive_effect_by_reach_steps=[],
negetive_effect_by_reach_steps_based_on_first_layer=False
)
planner_evaluation_effector = pb2.PlannerEvaluationEffector(
opponent_effector=opponent_effector,
# teammate_effector= ...
# action_type_effector= ...
)
planner_evaluation = pb2.PlannerEvaluation(
effectors=planner_evaluation_effector,
)
helios_offensive_planner = pb2.HeliosOffensivePlanner(
lead_pass=True,
direct_pass=False,
through_pass=True,
simple_pass=True,
short_dribble=True,
long_dribble=True,
simple_shoot=True,
simple_dribble=False,
cross=True,
server_side_decision=False,
max_depth=5,
max_nodes=800,
evalution=planner_evaluation
)
actions.append(pb2.PlayerAction(helios_offensive_planner=helios_offensive_planner))
return pb2.PlayerActions(actions=actions)

Field	Type	Label	Description
negetive_effect_by_distance	float	repeated	The list of float values that represents the negetive effect of the distance of the opponent player to the ball in the predicted state. The values of this list should be negetive numbers.
negetive_effect_by_distance_based_on_first_layer	bool		If this value is true, the negetive_effect_by_distance will be calculated based on the first action of each action chain. For example, if we have a chain of actions like [direct_pass, simple_pass, simple_dribble], the negetive_effect_by_distance will be calculated based on the direct_pass action for all of the actions.
negetive_effect_by_reach_steps	float	repeated	The list of float values that represents the negetive effect of the reach steps of the opponent player to the ball in the predicted state.
negetive_effect_by_reach_steps_based_on_first_layer	bool		If this value is true, the negetive_effect_by_reach_steps will be calculated based on the first action of each action chain. For example, if we have a chain of actions like [direct_pass, simple_pass, simple_dribble], the negetive_effect_by_reach_steps will be calculated based on the direct_pass action for all of the actions.

OpponentMessage

Field	Type	Label	Description
uniform_number	int32
position	RpcVector2D
body_direction	float

PassMessage

Field	Type	Label	Description
receiver_uniform_number	int32
receiver_point	RpcVector2D
ball_position	RpcVector2D
ball_velocity	RpcVector2D

PassRequestMessage

Field	Type	Label	Description
target_point	RpcVector2D

PenaltyKickState

Field	Type	Label	Description
on_field_side	Side
current_taker_side	Side
our_taker_counter	int32
their_taker_counter	int32
our_score	int32
their_score	int32
is_kick_taker	bool

PlannerEvaluation

Field	Type	Label	Description
effectors	PlannerEvaluationEffector
field_evaluators	PlannerFieldEvaluator

PlannerEvaluationEffector

PlannerEvaluationEffector is the message that represents the effectors of the planner evaluation methods. The proxy agent will update the predicted state evaluation based on the effectors. example in python grpc:

actions = []
teammate_effector = pb2.TeammateEffector(
coefficients={2: 1.2, 5: 1.6}, # if action target is player 2, multiply by 1.2.
apply_based_on_first_layer=False
)
action_type_effector = pb2.ActionTypeEffector(
direct_pass=2.0,
lead_pass=1.5,
through_pass=1.0,
short_dribble=1.0,
long_dribble=1.0,
cross=1.0,
hold=1.0
)
opponent_effector = pb2.OpponentEffector(
negetive_effect_by_distance=[-50, -45, -40, -30, -20, -15, -10, -5, -2, -1, -0.5, -0.1],
negetive_effect_by_distance_based_on_first_layer=False,
negetive_effect_by_reach_steps=[],
negetive_effect_by_reach_steps_based_on_first_layer=False
)
planner_evaluation_effector = pb2.PlannerEvaluationEffector(
opponent_effector= opponent_effector,
teammate_effector= teammate_effector,
action_type_effector= action_type_effector
)
planner_evaluation = pb2.PlannerEvaluation(
effectors=planner_evaluation_effector,
)
helios_offensive_planner = pb2.HeliosOffensivePlanner(
lead_pass=True,
direct_pass=False,
through_pass=True,
simple_pass=True,
short_dribble=True,
long_dribble=True,
simple_shoot=True,
simple_dribble=False,
cross=True,
server_side_decision=False,
max_depth=5,
max_nodes=800,
evalution=planner_evaluation
)
actions.append(pb2.PlayerAction(helios_offensive_planner=helios_offensive_planner))
return pb2.PlayerActions(actions=actions)

Field	Type	Description
opponent_effector	OpponentEffector	The effector of the opponent players. You can set the negetive effect of the distance or reach steps of the opponent players to the ball in the predicted state. By using this effector, the proxy agent will decrease the predicted state evaluation based on the distance or reach steps of the opponent players to the ball in the predicted state.
action_type_effector	ActionTypeEffector	The effector of the action types. You can set the coefficients of the action types in the tree to calculate the predicted state evaluation. By using this effector, the proxy agent will update the predicted state evaluation based on the coefficients of the action types in the tree.
teammate_effector	TeammateEffector	The effector of the teammates. You can set the coefficients of the teammates in the tree to calculate the predicted state evaluation. By using this effector, the proxy agent will update the predicted state evaluation based on the coefficients of the teammates in the tree.

PlannerFieldEvaluator

PlannerFieldEvaluator is the message that represents the field evaluator of the proxy agent to evaluate each node (predicted state) in the planner tree. If you dont set the field evaluator, the proxy agent will use the default field evaluator (HeliosFieldEvaluator) to evaluate each node in the planner tree. This field evaluator calculate the value of the predicted state by using helios_field_evaluator or/and matrix_field_evaluator. Note: if you just use the matrix_field_evaluator, value of all target in each square of the matrix should be the same, so it causes that the player choosing hold ball action instead of dribble in that area. To avoid this issue, you can use the helios_field_evaluator with the matrix_field_evaluator together.

Field	Type	Label	Description
helios_field_evaluator	HeliosFieldEvaluator
matrix_field_evaluator	MatrixFieldEvaluator

Player

Player is the message that represents a player in the soccer simulation. To get type information of the player, you can use the type_id field and player type information.

Field	Type	Description
position	RpcVector2D	The position of the player.
seen_position	RpcVector2D	The position of the player that the agent has seen.
heard_position	RpcVector2D	The position of the player that the agent has heard.
velocity	RpcVector2D	The velocity of the player.
seen_velocity	RpcVector2D	The velocity of the player that the agent has seen.
pos_count	int32	How many cycles ago the agent has seen or heard the player.
seen_pos_count	int32	How many cycles ago the agent has seen the player.
heard_pos_count	int32	How many cycles ago the agent has heard the player.
vel_count	int32	How many cycles ago the agent has seen or heard the velocity of the player.
seen_vel_count	int32	How many cycles ago the agent has seen the velocity of the player.
ghost_count	int32	How many cycles ago the agent has lost the player.
dist_from_self	float	The distance of the player from the agent who is sending the message.
angle_from_self	float	The angle of the player from the agent who is sending the message.
id	int32	The unique identifier of the player.
side	Side	The side of the player. It can be LEFT or RIGHT or UNKNOWN if the side is not known.
uniform_number	int32	The uniform number of the player.
uniform_number_count	int32	How many cycles ago the agent has seen the uniform number of the player.
is_goalie	bool	Whether the player is a goalie or not.
body_direction	float	The body direction of the player.
body_direction_count	int32	How many cycles ago the agent has seen the body direction of the player.
face_direction	float	The face direction of the player. In soccer simulation 2D, face direction is the direction that the player is looking at.
face_direction_count	int32	How many cycles ago the agent has seen the face direction of the player.
point_to_direction	float	The direction that the player is pointing to.
point_to_direction_count	int32	How many cycles ago the agent has seen the point to direction of the player.
is_kicking	bool	Whether the player is kicking or not.
dist_from_ball	float	The distance of the player from the ball.
angle_from_ball	float	The angle of the player from the ball.
ball_reach_steps	int32	How many cycles the player needs to reach the ball.
is_tackling	bool	Whether the player is tackling or not.
type_id	int32	The type identifier of the player.

PlayerAction

Field	Type	Label	Description
dash	Dash
turn	Turn
kick	Kick
tackle	Tackle
catch	Catch
move	Move
turn_neck	TurnNeck
change_view	ChangeView
say	Say
point_to	PointTo
point_to_of	PointToOf
attention_to	AttentionTo
attention_to_of	AttentionToOf
log	Log
debug_client	DebugClient
body_go_to_point	Body_GoToPoint
body_smart_kick	Body_SmartKick
bhv_before_kick_off	Bhv_BeforeKickOff
bhv_body_neck_to_ball	Bhv_BodyNeckToBall
bhv_body_neck_to_point	Bhv_BodyNeckToPoint
bhv_emergency	Bhv_Emergency
bhv_go_to_point_look_ball	Bhv_GoToPointLookBall
bhv_neck_body_to_ball	Bhv_NeckBodyToBall
bhv_neck_body_to_point	Bhv_NeckBodyToPoint
bhv_scan_field	Bhv_ScanField
body_advance_ball	Body_AdvanceBall
body_clear_ball	Body_ClearBall
body_dribble	Body_Dribble
body_go_to_point_dodge	Body_GoToPointDodge
body_hold_ball	Body_HoldBall
body_intercept	Body_Intercept
body_kick_one_step	Body_KickOneStep
body_stop_ball	Body_StopBall
body_stop_dash	Body_StopDash
body_tackle_to_point	Body_TackleToPoint
body_turn_to_angle	Body_TurnToAngle
body_turn_to_ball	Body_TurnToBall
body_turn_to_point	Body_TurnToPoint
focus_move_to_point	Focus_MoveToPoint
focus_reset	Focus_Reset
neck_scan_field	Neck_ScanField
neck_scan_players	Neck_ScanPlayers
neck_turn_to_ball_and_player	Neck_TurnToBallAndPlayer
neck_turn_to_ball_or_scan	Neck_TurnToBallOrScan
neck_turn_to_ball	Neck_TurnToBall
neck_turn_to_goalie_or_scan	Neck_TurnToGoalieOrScan
neck_turn_to_low_conf_teammate	Neck_TurnToLowConfTeammate
neck_turn_to_player_or_scan	Neck_TurnToPlayerOrScan
neck_turn_to_point	Neck_TurnToPoint
neck_turn_to_relative	Neck_TurnToRelative
view_change_width	View_ChangeWidth
view_normal	View_Normal
view_synch	View_Synch
view_wide	View_Wide
helios_goalie	HeliosGoalie
helios_goalie_move	HeliosGoalieMove
helios_goalie_kick	HeliosGoalieKick
helios_shoot	HeliosShoot
helios_offensive_planner	HeliosOffensivePlanner
helios_basic_offensive	HeliosBasicOffensive
helios_basic_move	HeliosBasicMove
helios_set_play	HeliosSetPlay
helios_penalty	HeliosPenalty
helios_communication	HeliosCommunicaion
bhv_do_force_kick	bhv_doForceKick
bhv_do_heard_pass_recieve	bhv_doHeardPassRecieve

PlayerActions

Field	Type	Label
actions	PlayerAction	repeated
ignore_preprocess	bool
ignore_doforcekick	bool
ignore_doHeardPassRecieve	bool
ignore_doIntention	bool
ignore_shootInPreprocess	bool

PlayerParam

Field	Type	Label	Description
register_response	RegisterResponse
player_types	int32
subs_max	int32
pt_max	int32
allow_mult_default_type	bool
player_speed_max_delta_min	float
player_speed_max_delta_max	float
stamina_inc_max_delta_factor	float
player_decay_delta_min	float
player_decay_delta_max	float
inertia_moment_delta_factor	float
dash_power_rate_delta_min	float
dash_power_rate_delta_max	float
player_size_delta_factor	float
kickable_margin_delta_min	float
kickable_margin_delta_max	float
kick_rand_delta_factor	float
extra_stamina_delta_min	float
extra_stamina_delta_max	float
effort_max_delta_factor	float
effort_min_delta_factor	float
random_seed	int32
new_dash_power_rate_delta_min	float
new_dash_power_rate_delta_max	float
new_stamina_inc_max_delta_factor	float
kick_power_rate_delta_min	float
kick_power_rate_delta_max	float
foul_detect_probability_delta_factor	float
catchable_area_l_stretch_min	float
catchable_area_l_stretch_max	float

PlayerType

Field	Type	Label	Description
register_response	RegisterResponse
id	int32
stamina_inc_max	float
player_decay	float
inertia_moment	float
dash_power_rate	float
player_size	float
kickable_margin	float
kick_rand	float
extra_stamina	float
effort_max	float
effort_min	float
kick_power_rate	float
foul_detect_probability	float
catchable_area_l_stretch	float
unum_far_length	float
unum_too_far_length	float
team_far_length	float
team_too_far_length	float
player_max_observation_length	float
ball_vel_far_length	float
ball_vel_too_far_length	float
ball_max_observation_length	float
flag_chg_far_length	float
flag_chg_too_far_length	float
flag_max_observation_length	float
kickable_area	float
reliable_catchable_dist	float
max_catchable_dist	float
real_speed_max	float
player_speed_max2	float
real_speed_max2	float
cycles_to_reach_max_speed	int32
player_speed_max	float

PointTo

Field	Type	Label	Description
x	float
y	float

PointToOf

RecoveryMessage

Field	Type	Label	Description
recovery	float

RegisterRequest

RegisterRequest is the message that the client sends to the server to register itself. The client should send this message to the server to register itself. The server will respond with a RegisterResponse message.

Field	Type	Description
agent_type	AgentType	The type of the agent. It can be PlayerT, CoachT, or TrainerT.
team_name	string	The name of the team that the agent belongs to.
uniform_number	int32	The uniform number of the agent.
rpc_version	int32	The version of the RPC protocol that the client supports.

RegisterResponse

RegisterResponse is the message that the server sends to the client in response to a RegisterRequest message. The server will respond with this message after receiving a RegisterRequest message. The client should use the information in this message to identify itself to the server.

Field	Type	Description
client_id	int32	The unique identifier assigned to the client by the server.
agent_type	AgentType	The type of the agent. It can be PlayerT, CoachT, or TrainerT.
team_name	string	The name of the team that the agent belongs to.
uniform_number	int32	The uniform number of the agent.
rpc_server_language_type	RpcServerLanguageType	The language that the server is implemented in.

RpcActionState

Field	Type	Label	Description
action	RpcCooperativeAction
predict_state	RpcPredictState
evaluation	double

RpcCooperativeAction

Field	Type	Label	Description
category	RpcActionCategory
index	int32
sender_unum	int32
target_unum	int32
target_point	RpcVector2D
first_ball_speed	double
first_turn_moment	double
first_dash_power	double
first_dash_angle_relative	double
duration_step	int32
kick_count	int32
turn_count	int32
dash_count	int32
final_action	bool
description	string
parent_index	int32

RpcPredictState

Field	Type	Label	Description
spend_time	int32
ball_holder_unum	int32
ball_position	RpcVector2D
ball_velocity	RpcVector2D
our_defense_line_x	double
our_offense_line_x	double

RpcVector2D

RpcVector2D represents a 2D vector with additional properties. If you want to have access to geometric operations, you can use Vector2D class in pyrusgeom package To use this class, you need to install pyrusgeom package, import Vector2D class and create a Vector2D object with x and y values.

Field	Type	Description
x	float	The x-coordinate of the vector.
y	float	The y-coordinate of the vector.
dist	float	The distance magnitude of the vector.
angle	float	The angle of the vector in degrees. In soccer simulation 2D environment, the 0 degree is opponent's goal, and the angle increases in the counter-clock direction. So, if your team is in left side, -90 degree is up, 0 degree is right (opponent gole), 90 degree is down.

Say

Field	Type	Label	Description
ball_message	BallMessage
pass_message	PassMessage
intercept_message	InterceptMessage
goalie_message	GoalieMessage
goalie_and_player_message	GoalieAndPlayerMessage
offside_line_message	OffsideLineMessage
defense_line_message	DefenseLineMessage
wait_request_message	WaitRequestMessage
setplay_message	SetplayMessage
pass_request_message	PassRequestMessage
stamina_message	StaminaMessage
recovery_message	RecoveryMessage
stamina_capacity_message	StaminaCapacityMessage
dribble_message	DribbleMessage
ball_goalie_message	BallGoalieMessage
one_player_message	OnePlayerMessage
two_player_message	TwoPlayerMessage
three_player_message	ThreePlayerMessage
self_message	SelfMessage
teammate_message	TeammateMessage
opponent_message	OpponentMessage
ball_player_message	BallPlayerMessage

Self

Self is the message that represents the agent itself in the soccer simulation. When an agent send a message to the playmaker server, self is information about the agent itself.

Field	Type	Description
position	RpcVector2D	The position of the agent.
seen_position	RpcVector2D	The position of the agent that the agent has seen. (By using flags)
heard_position	RpcVector2D	The position of the agent that the agent has heard. (This is not very useful)
velocity	RpcVector2D	The velocity of the agent.
seen_velocity	RpcVector2D	The velocity of the agent that the agent has seen. (By using flags)
pos_count	int32	How many cycles ago the agent has seen or heard itself.
seen_pos_count	int32	How many cycles ago the agent has seen itself.
heard_pos_count	int32	How many cycles ago the agent has heard itself.
vel_count	int32	How many cycles ago the agent has seen or heard the velocity of itself.
seen_vel_count	int32	How many cycles ago the agent has seen the velocity of itself.
ghost_count	int32	How many cycles ago the agent has lost itself.
id	int32	The ID number for this object in proxy.
side	Side	The side of the agent. It can be LEFT or RIGHT or UNKNOWN if the side is not known.
uniform_number	int32	The uniform number of the agent.
uniform_number_count	int32	How many cycles ago the agent has seen the uniform number of itself.
is_goalie	bool	Whether the agent is a goalie or not.
body_direction	float	The body direction of the agent.
body_direction_count	int32	How many cycles ago the agent has seen the body direction of itself.
face_direction	float	The face direction of the agent. In soccer simulation 2D, face direction is the direction that the agent is looking at. This is a global direction.
face_direction_count	int32	How many cycles ago the agent has seen the face direction of itself.
point_to_direction	float	The direction that the agent is pointing to. This is a global direction.
point_to_direction_count	int32	How many cycles ago the agent has seen the point to direction of itself.
is_kicking	bool	Whether the agent is kicking or not.
dist_from_ball	float	The distance of the agent from the ball.
angle_from_ball	float	The angle of the agent from the ball.
ball_reach_steps	int32	How many cycles the agent needs to reach the ball.
is_tackling	bool	Whether the agent is tackling or not.
relative_neck_direction	float	The relative neck direction of the agent to the body direction.
stamina	float	The stamina of the agent. This number is between TODO
is_kickable	bool	Whether the agent is kickable or not. Means the agent can kick the ball.
catch_probability	float	The probability of the agent to catch the ball. This number is important for goalies.
tackle_probability	float	The probability of the agent to tackle the ball.
foul_probability	float	The probability of the agent to foul.
view_width	ViewWidth	The view width of the agent. It can be NARROW, NORMAL, or WIDE.
type_id	int32	The type identifier of the agent. The RcssServer generates 18 different types of agents. The coach is reponsible to give the type information to the agent.
kick_rate	float	The kick rate of the agent. This number is calculated by this formula: self.playerType().kickRate(wm.ball().distFromSelf(), (wm.ball().angleFromSelf() - self.body()).degree()), So, if the kick rate is more, the agent can kick the ball with more first speed to any angle.
recovery	float	The current estimated recovery value. TODO more info
stamina_capacity	float	The stamina capacity of the agent. This number is between 0 to ~130000 depending on the server param.
card	CardType	The card type of the agent. It can be NO_CARD, YELLOW, or RED.
catch_time	int32	The time when the last catch command is performed.
effort	float	The effort of the agent. TODO more info

SelfMessage

Field	Type	Label	Description
self_position	RpcVector2D
self_body_direction	float
self_stamina	float

ServerParam

Field	Type	Label	Description
register_response	RegisterResponse
inertia_moment	float
player_size	float
player_decay	float
player_rand	float
player_weight	float
player_speed_max	float
player_accel_max	float
stamina_max	float
stamina_inc_max	float
recover_init	float
recover_dec_thr	float
recover_min	float
recover_dec	float
effort_init	float
effort_dec_thr	float
effort_min	float
effort_dec	float
effort_inc_thr	float
effort_inc	float
kick_rand	float
team_actuator_noise	bool
player_rand_factor_l	float
player_rand_factor_r	float
kick_rand_factor_l	float
kick_rand_factor_r	float
ball_size	float
ball_decay	float
ball_rand	float
ball_weight	float
ball_speed_max	float
ball_accel_max	float
dash_power_rate	float
kick_power_rate	float
kickable_margin	float
control_radius	float
control_radius_width	float
max_power	float
min_power	float
max_moment	float
min_moment	float
max_neck_moment	float
min_neck_moment	float
max_neck_angle	float
min_neck_angle	float
visible_angle	float
visible_distance	float
wind_dir	float
wind_force	float
wind_angle	float
wind_rand	float
kickable_area	float
catch_area_l	float
catch_area_w	float
catch_probability	float
goalie_max_moves	int32
corner_kick_margin	float
offside_active_area_size	float
wind_none	bool
use_wind_random	bool
coach_say_count_max	int32
coach_say_msg_size	int32
clang_win_size	int32
clang_define_win	int32
clang_meta_win	int32
clang_advice_win	int32
clang_info_win	int32
clang_mess_delay	int32
clang_mess_per_cycle	int32
half_time	int32
simulator_step	int32
send_step	int32
recv_step	int32
sense_body_step	int32
lcm_step	int32
player_say_msg_size	int32
player_hear_max	int32
player_hear_inc	int32
player_hear_decay	int32
catch_ban_cycle	int32
slow_down_factor	int32
use_offside	bool
kickoff_offside	bool
offside_kick_margin	float
audio_cut_dist	float
dist_quantize_step	float
landmark_dist_quantize_step	float
dir_quantize_step	float
dist_quantize_step_l	float
dist_quantize_step_r	float
landmark_dist_quantize_step_l	float
landmark_dist_quantize_step_r	float
dir_quantize_step_l	float
dir_quantize_step_r	float
coach_mode	bool
coach_with_referee_mode	bool
use_old_coach_hear	bool
slowness_on_top_for_left_team	float
slowness_on_top_for_right_team	float
start_goal_l	int32
start_goal_r	int32
fullstate_l	bool
fullstate_r	bool
drop_ball_time	int32
synch_mode	bool
synch_offset	int32
synch_micro_sleep	int32
point_to_ban	int32
point_to_duration	int32
player_port	int32
trainer_port	int32
online_coach_port	int32
verbose_mode	bool
coach_send_vi_step	int32
replay_file	string
landmark_file	string
send_comms	bool
text_logging	bool
game_logging	bool
game_log_version	int32
text_log_dir	string
game_log_dir	string
text_log_fixed_name	string
game_log_fixed_name	string
use_text_log_fixed	bool
use_game_log_fixed	bool
use_text_log_dated	bool
use_game_log_dated	bool
log_date_format	string
log_times	bool
record_message	bool
text_log_compression	int32
game_log_compression	int32
use_profile	bool
tackle_dist	float
tackle_back_dist	float
tackle_width	float
tackle_exponent	float
tackle_cycles	int32
tackle_power_rate	float
freeform_wait_period	int32
freeform_send_period	int32
free_kick_faults	bool
back_passes	bool
proper_goal_kicks	bool
stopped_ball_vel	float
max_goal_kicks	int32
clang_del_win	int32
clang_rule_win	int32
auto_mode	bool
kick_off_wait	int32
connect_wait	int32
game_over_wait	int32
team_l_start	string
team_r_start	string
keepaway_mode	bool
keepaway_length	float
keepaway_width	float
keepaway_logging	bool
keepaway_log_dir	string
keepaway_log_fixed_name	string
keepaway_log_fixed	bool
keepaway_log_dated	bool
keepaway_start	int32
nr_normal_halfs	int32
nr_extra_halfs	int32
penalty_shoot_outs	bool
pen_before_setup_wait	int32
pen_setup_wait	int32
pen_ready_wait	int32
pen_taken_wait	int32
pen_nr_kicks	int32
pen_max_extra_kicks	int32
pen_dist_x	float
pen_random_winner	bool
pen_allow_mult_kicks	bool
pen_max_goalie_dist_x	float
pen_coach_moves_players	bool
module_dir	string
ball_stuck_area	float
coach_msg_file	string
max_tackle_power	float
max_back_tackle_power	float
player_speed_max_min	float
extra_stamina	float
synch_see_offset	int32
extra_half_time	int32
stamina_capacity	float
max_dash_angle	float
min_dash_angle	float
dash_angle_step	float
side_dash_rate	float
back_dash_rate	float
max_dash_power	float
min_dash_power	float
tackle_rand_factor	float
foul_detect_probability	float
foul_exponent	float
foul_cycles	int32
golden_goal	bool
red_card_probability	float
illegal_defense_duration	int32
illegal_defense_number	int32
illegal_defense_dist_x	float
illegal_defense_width	float
fixed_teamname_l	string
fixed_teamname_r	string
max_catch_angle	float
min_catch_angle	float
random_seed	int32
long_kick_power_factor	float
long_kick_delay	int32
max_monitors	int32
catchable_area	float
real_speed_max	float
pitch_half_length	float
pitch_half_width	float
our_penalty_area_line_x	float
their_penalty_area_line_x	float
penalty_area_half_width	float
penalty_area_length	float
goal_width	float
goal_area_width	float
goal_area_length	float
center_circle_r	float
goal_post_radius	float

SetplayMessage

Field	Type	Label	Description
wait_step	int32

StaminaCapacityMessage

Field	Type	Label	Description
stamina_capacity	float

StaminaMessage

Field	Type	Label	Description
stamina	float

State

State is the message that represents the state of the agent in the soccer simulation.

Field	Type	Description
register_response	RegisterResponse	The response of the agent registration. The agent should use this information to identify itself to the playermaker server.
world_model	WorldModel	The world model of the agent. The agent should use this information to make decisions. If the server is in full state mode, the world model will be full state without noise.
full_world_model	WorldModel	The full world model of the agent. This value will be set only if the server is in full state mode and proxy agent is in debug mode. TODO add more information
need_preprocess	bool	Whether the agent needs to preprocess the world model or not. If the agent needs to do some preprocessing actions, it means the proxy agent will igonre the playmaker actions, you can ignore preprocessing.

Tackle

Field	Type	Label	Description
power_or_dir	float
foul	bool

TeammateEffector

TeammateEffector is the message that represents the coefficients of the teammates in the tree to calculate the predicted state evaluation. Each number should start from 0.0. For example, if evaluation of an action-state is 10, the action is direct pass to player 5, and value of player 5 is 0.5, so the final evaluation of the action-state will be 5. example in python grpc:

actions = []
teammate_effector = pb2.TeammateEffector(
coefficients={2: 1.2, 5: 1.6}, # if action target is player 2, multiply by 1.2.
apply_based_on_first_layer=False
)
planner_evaluation_effector = pb2.PlannerEvaluationEffector(
# opponent_effector= ...
teammate_effector= teammate_effector
# action_type_effector= ...
)
planner_evaluation = pb2.PlannerEvaluation(
effectors=planner_evaluation_effector,
)
helios_offensive_planner = pb2.HeliosOffensivePlanner(
lead_pass=True,
direct_pass=False,
through_pass=True,
simple_pass=True,
short_dribble=True,
long_dribble=True,
simple_shoot=True,
simple_dribble=False,
cross=True,
server_side_decision=False,
max_depth=5,
max_nodes=800,
evalution=planner_evaluation
)
actions.append(pb2.PlayerAction(helios_offensive_planner=helios_offensive_planner))
return pb2.PlayerActions(actions=actions)

Field	Type	Label	Description
coefficients	TeammateEffector.CoefficientsEntry	repeated	The map of the coefficients of the teammates. The key of the map is the uniform number of the teammate, and the value is the coefficient of the teammate. The value should be started from 0.0.
apply_based_on_first_layer	bool		If this value is true, the coefficients will be calculated based on the first action target of each action chain. For example, if we have a chain of actions like [direct_pass to 5, simple_pass to 6, simple_pass to 7], the coefficients will be calculated based on the coeeficient of the player 5 for all of the actions.

TeammateEffector.CoefficientsEntry

Field	Type	Label	Description
key	int32
value	float

TeammateMessage

Field	Type	Label	Description
uniform_number	int32
position	RpcVector2D
body_direction	float

ThreePlayerMessage

Field	Type	Label	Description
first_uniform_number	int32
first_position	RpcVector2D
second_uniform_number	int32
second_position	RpcVector2D
third_uniform_number	int32
third_position	RpcVector2D

TrainerAction

Field	Type	Label	Description
do_kick_off	DoKickOff
do_move_ball	DoMoveBall
do_move_player	DoMovePlayer
do_recover	DoRecover
do_change_mode	DoChangeMode
do_change_player_type	DoChangePlayerType

TrainerActions

Field	Type	Label	Description
actions	TrainerAction	repeated

Turn

Turn is the message that represents the turn action in the soccer simulation. By using this action, agent can turn to a direction relative to the current body direction. The rcssserver, calculates the next body direction of the agent based on current body direction, relative direction and velocity of the agent.

Field	Type	Label	Description
relative_direction	float		The relative direction of the turn action to the body direction of the agent. The direction can be between -180 to 180.

TurnNeck

Field	Type	Label	Description
moment	float

TwoPlayerMessage

Field	Type	Label	Description
first_uniform_number	int32
first_position	RpcVector2D
second_uniform_number	int32
second_position	RpcVector2D

View_ChangeWidth

Field	Type	Label	Description
view_width	ViewWidth

View_Normal

View_Synch

View_Wide

WaitRequestMessage

WorldModel

WorldModel is the message that represents the world model in the soccer simulation. The WorldModel message contains all the information about the current state of the game.

Field	Type	Label	Description
intercept_table	InterceptTable		The intercept table of the agent.
our_team_name	string		The name of our team.
their_team_name	string		The name of their team.
our_side	Side		The side of our team. It can be LEFT or RIGHT.
last_set_play_start_time	int32		The last set play start time.
self	Self		The information about the agent itself.
ball	Ball		The information about the ball.
teammates	Player	repeated
opponents	Player	repeated
unknowns	Player	repeated
our_players_dict	WorldModel.OurPlayersDictEntry	repeated
their_players_dict	WorldModel.TheirPlayersDictEntry	repeated
our_goalie_uniform_number	int32		The uniform number of our goalie.
their_goalie_uniform_number	int32		The uniform number of their goalie.
offside_line_x	float		The x-coordinate of the offside line of opponent team.
ofside_line_x_count	int32		How many cycles ago the agent has seen (calculated) the offside line.
kickable_teammate_id	int32		The ID of the kickable teammate. To get the information about the kickable teammate, you can find a player in teammates or our_players_dict with this ID.
kickable_opponent_id	int32		The ID of the kickable opponent. To get the information about the kickable opponent, you can find a player in opponents or their_players_dict with this ID.
last_kick_side	Side		The last side that the ball was kicked.
last_kicker_uniform_number	int32		The last uniform number that the ball was kicked.
cycle	int32		The current cycle of the game.
game_mode_type	GameModeType		The current game mode type.
left_team_score	int32		The score of the left team.
right_team_score	int32		The score of the right team.
is_our_set_play	bool		Whether it is our set play or not.
is_their_set_play	bool		Whether it is their set play or not.
stoped_cycle	int32		The number of cycles that the game has stopped. For example, when the cycle is 90, and stoped_cycle is 10, it means the game has stopped at 90th cycle for 10 cycles.
our_team_score	int32		The score of our team.
their_team_score	int32		The score of their team.
is_penalty_kick_mode	bool		Whether it is penalty kick mode or not.
helios_home_positions	WorldModel.HeliosHomePositionsEntry	repeated	The home positions of the agents in the helios strategy. Helios base code is using Delanaray triangulation to calculate the home positions.
our_defense_line_x	double		The x-coordinate of our defense line. The diffence line is minimum x-coordinate of our players (except goalie) and ball.
their_defense_line_x	double		The x-coordinate of their defense line. The diffence line is minimum x-coordinate of their players (except goalie) and ball.
our_defense_player_line_x	double		The x-coordinate of our defense player line. The diffence player line is minimum x-coordinate of our players (except goalie).
their_defense_player_line_x	double		The x-coordinate of their defense player line. The diffence player line is minimum x-coordinate of their players (except goalie).
kickable_teammate_existance	bool		Whether the kickable teammate exists or not.
kickable_opponent_existance	bool		Whether the kickable opponent exists or not.
penalty_kick_state	PenaltyKickState		The penalty kick state.
see_time	int32		The time that the agent has seen the world model.
time_stopped	int32
set_play_count	int32
game_mode_side	Side

WorldModel.HeliosHomePositionsEntry

Field	Type	Label	Description
key	int32
value	RpcVector2D

WorldModel.OurPlayersDictEntry

Field	Type	Label	Description
key	int32
value	Player

WorldModel.TheirPlayersDictEntry

Field	Type	Label	Description
key	int32
value	Player

bhv_doForceKick

bhv_doHeardPassRecieve

AgentType

AgentType is the enum that represents the different types of agents.

Name	Number	Description
PlayerT	0
CoachT	1
TrainerT	2

CardType

Type of player's card.

Name	Number	Description
NO_CARD	0
YELLOW	1
RED	2

GameModeType

Name	Number	Description
BeforeKickOff	0
TimeOver	1
PlayOn	2
KickOff_	3
KickIn_	4
FreeKick_	5
CornerKick_	6
GoalKick_	7
AfterGoal_	8
OffSide_	9
PenaltyKick_	10
FirstHalfOver	11
Pause	12
Human	13
FoulCharge_	14
FoulPush_	15
FoulMultipleAttacker_	16
FoulBallOut_	17
BackPass_	18
FreeKickFault_	19
CatchFault_	20
IndFreeKick_	21
PenaltySetup_	22
PenaltyReady_	23
PenaltyTaken_	24
PenaltyMiss_	25
PenaltyScore_	26
IllegalDefense_	27
PenaltyOnfield_	28
PenaltyFoul_	29
GoalieCatch_	30
ExtendHalf	31
MODE_MAX	32

InterceptActionType

InterceptActionType is the enum that represents the different types of intercept actions.

Name	Number	Description
UNKNOWN_Intercept_Action_Type	0	Unknown intercept action type.
OMNI_DASH	1	Omni dash intercept action type. Means the agent will dash to the ball in any direction.
TURN_FORWARD_DASH	2	Turn forward dash intercept action type. Means the agent will turn to the ball and dash to the ball.
TURN_BACKWARD_DASH	3	Turn backward dash intercept action type. Means the agent will turn to the ball and dash to the ball in the backward direction.

LoggerLevel

Name	Number	Description
NoneLevel	0
SYSTEM	1
SENSOR	2
WORLD	4
ACTION	8
INTERCEPT	16
KICK	32
HOLD	64
DRIBBLE	128
PASS	256
CROSS	512
SHOOT	1024
CLEAR	2048
BLOCK	4096
MARK	8192
POSITIONING	16384
ROLE	32768
TEAM	65536
COMMUNICATION	131072
ANALYZER	262144
ACTION_CHAIN	524288
PLAN	1048576	TRAINING = 0x80000000; LEVEL_ANY = 0xffffffff;

RpcActionCategory

Name	Number	Description
AC_Hold	0
AC_Dribble	1
AC_Pass	2
AC_Shoot	3
AC_Clear	4
AC_Move	5
AC_NoAction	6

RpcServerLanguageType

Name	Number	Description
UNKNOWN_LANGUAGE	0
PYThON	1
JAVA	2
CPP	3
CSHARP	4
RUBY	5
JAVE_SCRIPT	6
GO	7

Side

Name	Number	Description
UNKNOWN	0
LEFT	1
RIGHT	2

ViewWidth

Enum representing the different view widths available in the soccer simulation. For more information, see the documentation at link.

Name	Number	Description
NARROW	0	Narrow view width (60 degrees).
NORMAL	1	Normal view width (90 degrees).
WIDE	2	Wide view width (180 degrees).

Game

The Game service provides various RPC methods for interacting with a soccer simulation.

Method Name	Request Type	Response Type
GetPlayerActions	State	PlayerActions
GetCoachActions	State	CoachActions
GetTrainerActions	State	TrainerActions
SendInitMessage	InitMessage	Empty
SendServerParams	ServerParam	Empty
SendPlayerParams	PlayerParam	Empty
SendPlayerType	PlayerType	Empty
Register	RegisterRequest	RegisterResponse
SendByeCommand	RegisterResponse	Empty
GetBestPlannerAction	BestPlannerActionRequest	BestPlannerActionResponse

Scalar Value Types

.proto Type	Notes	C++	Java	Python	Go	C#	PHP	Ruby
double		double	double	float	float64	double	float	Float
float		float	float	float	float32	float	float	Float
int32	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
int64	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead.	int64	long	int/long	int64	long	integer/string	Bignum
uint32	Uses variable-length encoding.	uint32	int	int/long	uint32	uint	integer	Bignum or Fixnum (as required)
uint64	Uses variable-length encoding.	uint64	long	int/long	uint64	ulong	integer/string	Bignum or Fixnum (as required)
sint32	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sint64	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s.	int64	long	int/long	int64	long	integer/string	Bignum
fixed32	Always four bytes. More efficient than uint32 if values are often greater than 2^28.	uint32	int	int	uint32	uint	integer	Bignum or Fixnum (as required)
fixed64	Always eight bytes. More efficient than uint64 if values are often greater than 2^56.	uint64	long	int/long	uint64	ulong	integer/string	Bignum
sfixed32	Always four bytes.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sfixed64	Always eight bytes.	int64	long	int/long	int64	long	integer/string	Bignum
bool		bool	boolean	boolean	bool	bool	boolean	TrueClass/FalseClass
string	A string must always contain UTF-8 encoded or 7-bit ASCII text.	string	String	str/unicode	string	string	string	String (UTF-8)
bytes	May contain any arbitrary sequence of bytes.	string	ByteString	str	[]byte	ByteString	string	String (ASCII-8BIT)

Version: 1.7​

Table of Contents​

idl/grpc/service.proto​

ActionTypeEffector​

AddArc​

AddCircle​

AddLine​

AddMessage​

AddPoint​

AddRectangle​

AddSector​

AddText​

AddTriangle​

AttentionTo​

AttentionToOf​

Ball​

BallGoalieMessage​

BallMessage​

BallPlayerMessage​

BestPlannerActionRequest​

BestPlannerActionRequest.PairsEntry​

BestPlannerActionResponse​

Bhv_BeforeKickOff​

Bhv_BodyNeckToBall​

Bhv_BodyNeckToPoint​

Bhv_Emergency​

Bhv_GoToPointLookBall​

Bhv_NeckBodyToBall​

Bhv_NeckBodyToPoint​

Bhv_ScanField​

Body_AdvanceBall​

Body_ClearBall​

Body_Dribble​

Body_GoToPoint​

Body_GoToPointDodge​

Body_HoldBall​

Body_Intercept​

Body_KickOneStep​

Body_SmartKick​

Body_StopBall​

Body_StopDash​

Body_TackleToPoint​

Body_TurnToAngle​

Body_TurnToBall​

Body_TurnToPoint​

Catch​

ChangePlayerType​

ChangeView​

CoachAction​

CoachActions​

Dash​

DebugClient​

DefenseLineMessage​

DoChangeMode​

DoChangePlayerType​

DoHeliosSayPlayerTypes​

DoHeliosSubstitute​

DoKickOff​

DoMoveBall​

DoMovePlayer​

DoRecover​

DribbleMessage​

Empty​

Focus_MoveToPoint​

Focus_Reset​

GoalieAndPlayerMessage​

GoalieMessage​

HeliosBasicMove​

HeliosBasicOffensive​

HeliosCommunicaion​

HeliosFieldEvaluator​

HeliosGoalie​

HeliosGoalieKick​

HeliosGoalieMove​

HeliosOffensivePlanner​

HeliosPenalty​

HeliosSetPlay​

HeliosShoot​

InitMessage​

InterceptInfo​