<!ELEMENT parameter_file (sim_world+,COMMENT*)>	

<!ELEMENT COMMENT (#PCDATA)>	

<!ELEMENT sim_world (COMMENT*, ( field | decoration | ball | wall | robot | goal | geometry)+)>	

	<!ATTLIST sim_world name CDATA #REQUIRED>		

	<!ATTLIST sim_world x_size CDATA #REQUIRED>	

	<!ATTLIST sim_world y_size CDATA #REQUIRED>		

	<!ATTLIST sim_world z_size CDATA "0">

        <!ATTLIST sim_world in_latency CDATA #IMPLIED>	

	<!ATTLIST sim_world out_latency CDATA #IMPLIED>

	<!ATTLIST sim_world frame_rate CDATA #IMPLIED>

	<!ATTLIST sim_world noise_radius CDATA #IMPLIED>

<!ELEMENT geometry (COMMENT*,shape)>		

    <!ATTLIST geometry start_position CDATA #REQUIRED>

    <!ATTLIST geometry start_velocity CDATA #REQUIRED>	

<!ELEMENT appearance (COMMENT*)>		

    <!ATTLIST appearance fill_color CDATA #REQUIRED>		

	<!ATTLIST appearance edge_color CDATA #REQUIRED>		

	<!ATTLIST appearance edge_thickness CDATA #REQUIRED>			

<!ELEMENT robot (geometry,appearance*,kicker*,dribbler*,COMMENT*)>		

	<!ATTLIST robot name CDATA #REQUIRED>		

	<!ATTLIST robot id CDATA #REQUIRED>                

	<!ATTLIST robot team CDATA #REQUIRED>		

	<!ATTLIST robot elasticity CDATA #IMPLIED>	

    <!ATTLIST robot mass CDATA #REQUIRED>	

	<!ATTLIST robot inherits CDATA #IMPLIED>	

<!ELEMENT wall (geometry,appearance*,COMMENT*)>		

	<!ATTLIST wall name CDATA #REQUIRED>	

	<!ATTLIST wall elasticity CDATA #REQUIRED>		

	<!ATTLIST wall inherits CDATA #IMPLIED>	

<!ELEMENT ball (geometry,appearance*,COMMENT*)>		

	<!ATTLIST ball mass CDATA #REQUIRED>

        <!ATTLIST ball name CDATA #IMPLIED>

	<!ATTLIST ball id CDATA #IMPLIED>                

	<!ATTLIST ball team CDATA #IMPLIED>	

	<!ATTLIST ball kinetic_friction CDATA #REQUIRED>	

	<!ATTLIST ball static_friction CDATA #REQUIRED>		

	<!ATTLIST ball elasticity CDATA #REQUIRED>		

	<!ATTLIST ball inherits CDATA #IMPLIED>	       

<!ELEMENT goal (geometry,appearance*,COMMENT*)>	

	<!ATTLIST goal team CDATA #REQUIRED>	

	<!ATTLIST goal inherits CDATA #IMPLIED>	

<!ELEMENT field (geometry,appearance*,COMMENT*)>		

	<!ATTLIST field kinetic_friction CDATA #REQUIRED>	

	<!ATTLIST field static_friction CDATA #REQUIRED>		

	<!ATTLIST field elasticity CDATA #REQUIRED>		

	<!ATTLIST field inherits CDATA #IMPLIED>                

<!ELEMENT decoration (geometry,appearance*)>       

 <!ELEMENT line (COMMENT*)>				

	<!ATTLIST line length CDATA #REQUIRED>		

	<!ATTLIST line angle CDATA #REQUIRED>	        

<!ELEMENT Plane (COMMENT*)>                

	<!ATTLIST Plane length CDATA #REQUIRED>		

	<!ATTLIST Plane width CDATA #REQUIRED>	               

    <!ATTLIST Plane normalangle CDATA #IMPLIED>     

<!ELEMENT circle (COMMENT*)>               

	 <!ATTLIST circle radius CDATA #REQUIRED>

	 <!ATTLIST circle orientation CDATA #REQUIRED>     

<!ELEMENT arc (COMMENT*)>                

	<!ATTLIST arc radius CDATA #REQUIRED>		

	<!ATTLIST arc begin_angle CDATA #REQUIRED>	                

	<!ATTLIST arc end_angle CDATA #REQUIRED>        

<!ELEMENT rectangle (COMMENT*)>                

	<!ATTLIST rectangle length CDATA #REQUIRED>		

	<!ATTLIST rectangle width CDATA #REQUIRED>

    <!ATTLIST rectangle orientation CDATA #REQUIRED>	               

    <!ATTLIST rectangle height CDATA "0">     

<!ELEMENT kicker (shape,COMMENT*)>               

    <!ATTLIST kicker kick_impulse CDATA #REQUIRED>	

	<!ATTLIST kicker reset_time CDATA #REQUIRED>       

<!ELEMENT dribbler (shape,COMMENT*)> 

	<!ATTLIST dribbler stickiness CDATA #REQUIRED>       

<!ELEMENT shape (line | circle | rectangle | Plane | arc)+>	   
