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  1.  
  2. === 1711235119.596471 || <class 'proto.estop_state_pb2.EstopState'> || ===
  3.  
  4. === 1711235119.596471 || <class 'proto.tbots_software_msgs_pb2.PrimitiveSet'> || time_sent {
  5. epoch_timestamp_seconds: 1711235119.92159
  6. }
  7. robot_primitives {
  8. key: 4
  9. value {
  10. stop {
  11. }
  12. }
  13. }
  14. ===
  15.  
  16. === 1711235119.596471 || <class 'proto.play_info_msg_pb2.PlayInfo'> || robot_tactic_assignment {
  17. key: 4
  18. value {
  19. tactic_name: "PivotKickTactic"
  20. tactic_fsm_state: "terminate_state"
  21. }
  22. }
  23. play {
  24. play_state: "AssignedTacticsPlay"
  25. }
  26. ===
  27.  
  28. === 1711235119.596471 || <class 'proto.visualization_pb2.ObstacleList'> || ===
  29.  
  30. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "Primitive Hz"
  31. value: 63.492061614990234
  32. ===
  33.  
  34. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "World Hz"
  35. value: 63.492061614990234
  36. ===
  37.  
  38. === 1711235119.596471 || <class 'proto.visualization_pb2.PathVisualization'> || ===
  39.  
  40. === 1711235119.596471 || <class 'proto.world_pb2.World'> || time_sent {
  41. epoch_timestamp_seconds: 1711235120.341708
  42. }
  43. field {
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  45. field_y_length: 2.7
  46. defense_x_length: 1.0
  47. defense_y_length: 2.0
  48. goal_x_length: 0.2
  49. goal_y_length: 1.0
  50. boundary_buffer_size: 0.1
  51. center_circle_radius: 0.5
  52. }
  53. friendly_team {
  54. team_robots {
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  59. y_meters: 0.3288946533203125
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  61. global_orientation {
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  64. global_velocity {
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  66. y_component_meters: 0.018487615076276158
  67. }
  68. global_angular_velocity {
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  70. }
  71. }
  72. timestamp {
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  74. }
  75. }
  76. goalie_id: 0
  77. }
  78. enemy_team {
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  80. }
  81. ball {
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  85. y_meters: 0.3098696003746914
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  87. global_velocity {
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  91. }
  92. timestamp {
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  94. }
  95. }
  96. game_state {
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  98. restart_reason: RESTART_REASON_NONE
  99. command: REFEREE_COMMAND_HALT
  100. }
  101. sequence_number: 991
  102. ===
  103.  
  104. === 1711235119.596471 || <class 'proto.ssl_vision_wrapper_pb2.SSL_WrapperPacket'> || detection {
  105. frame_number: 69263
  106. t_capture: 1711235119.92159
  107. t_sent: 1711235119.923804
  108. camera_id: 0
  109. balls {
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  111. area: 29
  112. x: -3130.465087890625
  113. y: 309.6329040527344
  114. pixel_x: 530.5172119140625
  115. pixel_y: 343.7241516113281
  116. }
  117. robots_blue {
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  119. robot_id: 4
  120. x: -2806.177734375
  121. y: 328.8946533203125
  122. orientation: -1.673096776008606
  123. pixel_x: 537.3965454101562
  124. pixel_y: 393.10345458984375
  125. height: 140.0
  126. }
  127. }
  128. ===
  129.  
  130. === 1711235119.596471 || <class 'proto.play_info_msg_pb2.PlayInfo'> || robot_tactic_assignment {
  131. key: 4
  132. value {
  133. tactic_name: "PivotKickTactic"
  134. tactic_fsm_state: "terminate_state"
  135. }
  136. }
  137. play {
  138. play_state: "AssignedTacticsPlay"
  139. }
  140. ===
  141.  
  142. === 1711235119.596471 || <class 'proto.robot_status_msg_pb2.RobotStatus'> || robot_id: 4
  143. chipper_kicker_status {
  144. ms_since_chipper_fired: 970318.623015
  145. ms_since_kicker_fired: 12950.522912
  146. }
  147. motor_status {
  148. front_left {
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  150. }
  151. front_right {
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  153. }
  154. back_left {
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  156. enabled: true
  157. }
  158. back_right {
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  160. enabled: true
  161. }
  162. dribbler {
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  164. }
  165. local_velocity {
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  167. y_component_meters: 0.001242572086738268
  168. }
  169. angular_velocity {
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  172. }
  173. network_status {
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  175. }
  176. power_status {
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  178. capacitor_voltage: 254.5455322265625
  179. current_draw: 0.6700000166893005
  180. geneva_slot: CENTRE
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  182. }
  183. jetson_status {
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  185. }
  186. thunderloop_status {
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  188. primitive_executor_start_time_ms: 0.000572
  189. primitive_executor_step_time_ms: 0.009583
  190. motor_service_poll_time_ms: 2.713021
  191. power_service_poll_time_ms: 0.005052
  192. iteration_time_ms: 2.847032
  193. }
  194. time_sent {
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  196. }
  197. last_handled_primitive_set: 307
  198. primitive_executor_status {
  199. }
  200. ===
  201.  
  202. === 1711235119.596471 || <class 'proto.visualization_pb2.PathVisualization'> || ===
  203.  
  204. === 1711235119.596471 || <class 'proto.visualization_pb2.ObstacleList'> || ===
  205.  
  206. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "Primitive Hz"
  207. value: 59.70149230957031
  208. ===
  209.  
  210. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "World Hz"
  211. value: 58.82352828979492
  212. ===
  213.  
  214. === 1711235119.596471 || <class 'proto.tbots_software_msgs_pb2.PrimitiveSet'> || time_sent {
  215. epoch_timestamp_seconds: 1711235119.905352
  216. }
  217. robot_primitives {
  218. key: 4
  219. value {
  220. stop {
  221. }
  222. }
  223. }
  224. ===
  225.  
  226. === 1711235119.596471 || <class 'proto.world_pb2.World'> || time_sent {
  227. epoch_timestamp_seconds: 1711235120.33041
  228. }
  229. field {
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  231. field_y_length: 2.7
  232. defense_x_length: 1.0
  233. defense_y_length: 2.0
  234. goal_x_length: 0.2
  235. goal_y_length: 1.0
  236. boundary_buffer_size: 0.1
  237. center_circle_radius: 0.5
  238. }
  239. friendly_team {
  240. team_robots {
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  242. current_state {
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  245. y_meters: 0.32859445190429687
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  247. global_orientation {
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  250. global_velocity {
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  252. y_component_meters: 0.0
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  254. global_angular_velocity {
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  257. }
  258. timestamp {
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  260. }
  261. }
  262. goalie_id: 0
  263. }
  264. enemy_team {
  265. goalie_id: 0
  266. }
  267. ball {
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  271. y_meters: 0.30862020852446576
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  273. global_velocity {
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  277. }
  278. timestamp {
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  280. }
  281. }
  282. game_state {
  283. play_state: PLAY_STATE_HALT
  284. restart_reason: RESTART_REASON_NONE
  285. command: REFEREE_COMMAND_HALT
  286. }
  287. sequence_number: 990
  288. ===
  289.  
  290. === 1711235119.596471 || <class 'proto.ssl_vision_wrapper_pb2.SSL_WrapperPacket'> || detection {
  291. frame_number: 69262
  292. t_capture: 1711235119.905352
  293. t_sent: 1711235119.909469
  294. camera_id: 0
  295. balls {
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  297. area: 31
  298. x: -3131.57275390625
  299. y: 308.6066589355469
  300. pixel_x: 530.3225708007812
  301. pixel_y: 343.54840087890625
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  303. robots_blue {
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  305. robot_id: 4
  306. x: -2807.54833984375
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  308. orientation: -1.6468753814697266
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  310. pixel_y: 392.862060546875
  311. height: 140.0
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  313. }
  314. ===
  315.  
  316. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "Primitive Hz"
  317. value: 59.70149230957031
  318. ===
  319.  
  320. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "World Hz"
  321. value: 59.70149230957031
  322. ===
  323.  
  324. === 1711235119.596471 || <class 'proto.tbots_software_msgs_pb2.PrimitiveSet'> || time_sent {
  325. epoch_timestamp_seconds: 1711235119.889097
  326. }
  327. robot_primitives {
  328. key: 4
  329. value {
  330. stop {
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  332. }
  333. }
  334. ===
  335.  
  336. === 1711235119.596471 || <class 'proto.play_info_msg_pb2.PlayInfo'> || robot_tactic_assignment {
  337. key: 4
  338. value {
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  340. tactic_fsm_state: "terminate_state"
  341. }
  342. }
  343. play {
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  345. }
  346. ===
  347.  
  348. === 1711235119.596471 || <class 'proto.visualization_pb2.ObstacleList'> || ===
  349.  
  350. === 1711235119.596471 || <class 'proto.visualization_pb2.PathVisualization'> || ===
  351.  
  352. === 1711235119.596471 || <class 'proto.world_pb2.World'> || time_sent {
  353. epoch_timestamp_seconds: 1711235120.31194
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  355. field {
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  359. defense_y_length: 2.0
  360. goal_x_length: 0.2
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  365. friendly_team {
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  384. timestamp {
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  390. enemy_team {
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  393. ball {
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  411. command: REFEREE_COMMAND_HALT
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  413. sequence_number: 989
  414. ===
  415.  
  416. === 1711235119.596471 || <class 'proto.ssl_vision_wrapper_pb2.SSL_WrapperPacket'> || detection {
  417. frame_number: 69261
  418. t_capture: 1711235119.889097
  419. t_sent: 1711235119.893105
  420. camera_id: 0
  421. balls {
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  423. area: 34
  424. x: -3131.463134765625
  425. y: 309.4234313964844
  426. pixel_x: 530.4705810546875
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  429. robots_blue {
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  431. robot_id: 4
  432. x: -2807.54833984375
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  434. orientation: -1.6861350536346436
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  437. height: 140.0
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  440. ===
  441.  
  442. === 1711235119.596471 || <class 'proto.robot_status_msg_pb2.RobotStatus'> || robot_id: 4
  443. chipper_kicker_status {
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  445. ms_since_kicker_fired: 12922.560985
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  447. motor_status {
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  451. front_right {
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  463. dribbler {
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  473. }
  474. network_status {
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  477. power_status {
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  479. capacitor_voltage: 254.5455322265625
  480. current_draw: 0.6700000166893005
  481. geneva_slot: CENTRE
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  483. }
  484. jetson_status {
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  486. }
  487. thunderloop_status {
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  489. primitive_executor_start_time_ms: 0.000572
  490. primitive_executor_step_time_ms: 0.00974
  491. motor_service_poll_time_ms: 2.640938
  492. power_service_poll_time_ms: 0.00474
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  495. time_sent {
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  501. ===
  502.  
  503. === 1711235119.596471 || <class 'proto.play_info_msg_pb2.PlayInfo'> || robot_tactic_assignment {
  504. key: 4
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  510. play {
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  513. ===
  514.  
  515. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "Primitive Hz"
  516. value: 61.53845977783203
  517. ===
  518.  
  519. === 1711235119.596471 || <class 'proto.visualization_pb2.ObstacleList'> || ===
  520.  
  521. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "World Hz"
  522. value: 61.53845977783203
  523. ===
  524.  
  525. === 1711235119.596471 || <class 'proto.tbots_software_msgs_pb2.PrimitiveSet'> || time_sent {
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  528. robot_primitives {
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  535. ===
  536.  
  537. === 1711235119.596471 || <class 'proto.visualization_pb2.PathVisualization'> || ===
  538.  
  539. === 1711235119.596471 || <class 'proto.world_pb2.World'> || time_sent {
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  580. ball {
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  601. ===
  602.  
  603. === 1711235119.596471 || <class 'proto.ssl_vision_wrapper_pb2.SSL_WrapperPacket'> || detection {
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  605. t_capture: 1711235119.872841
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  627. ===
  628.  
  629. === 1711235119.596471 || <class 'proto.play_info_msg_pb2.PlayInfo'> || robot_tactic_assignment {
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  639. ===
  640.  
  641. === 1711235119.596471 || <class 'proto.visualization_pb2.PathVisualization'> || ===
  642.  
  643. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "Primitive Hz"
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  645. ===
  646.  
  647. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "World Hz"
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  650.  
  651. === 1711235119.596471 || <class 'proto.tbots_software_msgs_pb2.PrimitiveSet'> || time_sent {
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  1295. }
  1296. jetson_status {
  1297. cpu_temperature: 50.5
  1298. }
  1299. thunderloop_status {
  1300. network_service_poll_time_ms: 0.003541
  1301. primitive_executor_start_time_ms: 0.000572
  1302. primitive_executor_step_time_ms: 0.008594
  1303. motor_service_poll_time_ms: 2.766562
  1304. power_service_poll_time_ms: 0.003802
  1305. iteration_time_ms: 2.782136
  1306. }
  1307. time_sent {
  1308. epoch_timestamp_seconds: 987.0
  1309. }
  1310. last_handled_primitive_set: 307
  1311. primitive_executor_status {
  1312. }
  1313. ===
  1314.  
  1315. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "Primitive Hz"
  1316. value: 59.70149230957031
  1317. ===
  1318.  
  1319. === 1711235119.596471 || <class 'proto.visualization_pb2.NamedValue'> || name: "World Hz"
  1320. value: 58.82352828979492
  1321. ===
  1322.  
  1323. === 1711235119.596471 || <class 'proto.visualization_pb2.PathVisualization'> || ===
  1324.  
  1325. === 1711235119.596471 || <class 'proto.tbots_software_msgs_pb2.PrimitiveSet'> || time_sent {
  1326. epoch_timestamp_seconds: 1711235119.7914684
  1327. }
  1328. robot_primitives {
  1329. key: 4
  1330. value {
  1331. stop {
  1332. }
  1333. }
  1334. }
  1335. ===
  1336.  
  1337. === 1711235119.596471 || <class 'proto.play_info_msg_pb2.PlayInfo'> || robot_tactic_assignment {
  1338. key: 4
  1339. value {
  1340. tactic_name: "PivotKickTactic"
  1341. tactic_fsm_state: "terminate_state"
  1342. }
  1343. }
  1344. play {
  1345. play_state: "AssignedTacticsPlay"
  1346. }
  1347. ===
  1348.  
  1349. === 1711235119.596471 || <class 'proto.visualization_pb2.ObstacleList'> || ===
  1350.  
  1351. === 1711235119.596471 || <class 'proto.world_pb2.World'> || time_sent {
  1352. epoch_timestamp_seconds: 1711235120.213953
  1353. }
  1354. field {
  1355. field_x_length: 9.0
  1356. field_y_length: 2.7
  1357. defense_x_length: 1.0
  1358. defense_y_length: 2.0
  1359. goal_x_length: 0.2
  1360. goal_y_length: 1.0
  1361. boundary_buffer_size: 0.1
  1362. center_circle_radius: 0.5
  1363. }
  1364. friendly_team {
  1365. team_robots {
  1366. id: 4
  1367. current_state {
  1368. global_position {
  1369. x_meters: -2.806177734375
  1370. y_meters: 0.3288946533203125
  1371. }
  1372. global_orientation {
  1373. radians: -1.6653438806533813
  1374. }
  1375. global_velocity {
  1376. x_component_meters: -0.0006013889500511155
  1377. y_component_meters: 0.09475258776373104
  1378. }
  1379. global_angular_velocity {
  1380. radians_per_second: -1.2594517611475722
  1381. }
  1382. }
  1383. timestamp {
  1384. epoch_timestamp_seconds: 1711235119.7914684
  1385. }
  1386. }
  1387. goalie_id: 0
  1388. }
  1389. enemy_team {
  1390. goalie_id: 0
  1391. }
  1392. ball {
  1393. current_state {
  1394. global_position {
  1395. x_meters: -3.131461244777729
  1396. y_meters: 0.30930859331702404
  1397. }
  1398. global_velocity {
  1399. x_component_meters: 0.0034764966015572215
  1400. y_component_meters: -0.013242350870146191
  1401. }
  1402. }
  1403. timestamp {
  1404. epoch_timestamp_seconds: 1711235119.791468
  1405. }
  1406. }
  1407. game_state {
  1408. play_state: PLAY_STATE_HALT
  1409. restart_reason: RESTART_REASON_NONE
  1410. command: REFEREE_COMMAND_HALT
  1411. }
  1412. sequence_number: 983
  1413. ===
  1414.  
  1415. === 1711235119.596471 || <class 'proto.ssl_vision_wrapper_pb2.SSL_WrapperPacket'> || detection {
  1416. frame_number: 69255
  1417. t_capture: 1711235119.791468
  1418. t_sent: 1711235119.794223
  1419. camera_id: 0
  1420. balls {
  1421. confidence: 1.0
  1422. area: 33
  1423. x: -3131.91796875
  1424. y: 309.1886901855469
  1425. pixel_x: 530.4242553710938
  1426. pixel_y: 343.48486328125
  1427. }
  1428. robots_blue {
  1429. confidence: 0.9514385461807251
  1430. robot_id: 4
  1431. x: -2806.177734375
  1432. y: 328.8946533203125
  1433. orientation: -1.6653438806533813
  1434. pixel_x: 537.3965454101562
  1435. pixel_y: 393.10345458984375
  1436. height: 140.0
  1437. }
  1438. }
  1439. ===
  1440.  
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