message grSim_Robot_Command {
required uint32 id = 1;
required float kickspeedx = 2;
required float kickspeedz = 3;
required float veltangent = 4;
required float velnormal  = 5;
required float velangular = 6;
required bool spinner = 7;
required bool wheelsspeed = 8;
optional float wheel1 = 9;
optional float wheel2 = 10;
optional float wheel3 = 11;
optional float wheel4 = 12;
}

message grSim_Commands {
required double timestamp = 1;
required bool isteamyellow = 2;
repeated grSim_Robot_Command robot_commands = 3;
}