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RoboCup Small Size League Simulator.

grSim on Ubuntu

System Requirements

grSim will likely run on a modern dual-core PC with a decent graphics card. A typical configuration is:

  • Dual Core CPU (2.0 Ghz+)
  • 1GB of RAM
  • 256MB nVidia or ATI graphics card

Note that it may run on lower-end equipment though good performance is not guaranteed.

Software Requirements

grSim compiles on Linux (tested on Ubuntu and Arch Linux variants only) and Mac OS. It depends on the following libraries:

Please consult the install instructions for more details.


Receiving data from the grSim is similar to receiving data from the SSL-Vision using Google Protobuf library. Sending data to the simulator is also possible using Google Protobuf. Sample clients are included in clients folder. There are two clients available, qt-based and Java-based. The native client is compiled during the grSim compilation. To compile the Java client, please consult the corresponding README file.

Qt example project to receive and send data to the simulator.


If you use grSim in your research, please cite the following paper:

Monajjemi, Valiallah (Mani), Ali Koochakzadeh, and Saeed Shiry Ghidary. "grSim – RoboCup Small Size Robot Soccer Simulator." In Robot Soccer World Cup, pp. 450-460. Springer Berlin Heidelberg, 2011.