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Welcome to the FIRASim wiki! It is a simulator software developed by the Parsian Lab, Iran to simulate the IEEE VSSS(Very Small Size Soccer). It is based on the GrSim, the Simulator developed for the SSL (Small Size League) category from RoboCup.

FIRASim uses the protobuf as communication protocol to send vision information for the strategy software as well as to receive commands for the robot. For graphic purposes, the OpenGL is used. OpenGL (Open Graphics Library) is a cross-platform application programming interface (API) for rendering 2D and 3D vector graphics. To execute the simulation, an application for ODE is used. The Open Dynamics Engine (ODE) is a physics engine written in C/C++. Its two main components are a rigid body dynamics simulation engine and a collision detection engine.

The purpose of this WIKI is to set and present, the main information about the FIRASim using, how it works, the communication protocols as well as the main parameters which modify the game.