<?xml version="1.0"?> <!DOCTYPE parameter_file SYSTEM "robocup.dtd"> 

<!-- RoboCup Simulator Sample XML Parameter File --><!-- Written on: December 9, 2001 -->

<!-- This file describe the existing robocup system in XML -->

<!-- It has 5 Team A robots and 5 Team B robots, a field and 2 goals-->



<parameter_file>

	<sim_world name="5X5System2002" x_size="4.0" y_size="2.0" z_size="0" out_latency="5" in_latency="3" frame_rate="60" max_noise_radius="0.5" max_noise_theta="2.5">



<!--Robots for our team --> 		



		<robot name="Team A-0" team="1" id="0" mass="2.2" elasticity=".5">

			<geometry start_position="0.15,0,0" start_velocity="0,0,0">

				<shape>

				<circle radius="0.09" orientation="3.14159"/>

				</shape>

			</geometry>

			<kicker kick_impulse="5" reset_time="0.1">

				<shape>

					<arc radius="0.09" begin_angle="-40" end_angle="40"/>

				</shape>

			</kicker>

			<dribbler stickiness="100">

				<shape>

					<arc radius="0.1125" begin_angle="-40" end_angle="40"/>

				</shape>

			</dribbler>

		</robot>

		<robot name="Team A-1" team="1" id="1" mass="2.2" elasticity=".5">

			<geometry start_position="0.3,0.2,0" start_velocity="0,0,0">

				<shape>

				<circle radius="0.09" orientation="3.14159"/>

				</shape>

			</geometry>

			<kicker kick_impulse="5" reset_time="0.1">

				<shape>

					<arc radius="0.09" begin_angle="-40" end_angle="40"/>

				</shape>

			</kicker>

			<dribbler stickiness="100">

				<shape>

					<arc radius="0.1125" begin_angle="-40" end_angle="40"/>

				</shape>

			</dribbler>



		</robot>

		<robot name="Team A-2" team="1" id="2" mass="2.2" elasticity=".5">

			<geometry start_position="0.3,-0.2,0" start_velocity="0,0,0">

				<shape>

				<circle radius="0.09" orientation="3.14159"/>

				</shape>

			</geometry>

			<kicker kick_impulse="5" reset_time="0.1">

				<shape>

					<arc radius="0.09" begin_angle="-40" end_angle="40"/>

				</shape>

			</kicker>

			<dribbler stickiness="100">

				<shape>

					<arc radius="0.1125" begin_angle="-40" end_angle="40"/>

				</shape>

			</dribbler>

		</robot>

		<robot name="Team A-3" team="1" id="3" mass="2.2" elasticity=".5">

			<geometry start_position="1,0,0" start_velocity="0,0,0">

				<shape>

				<circle radius="0.09" orientation="3.14159"/>

				</shape>

			</geometry>

			<kicker kick_impulse="5" reset_time="0.1">

				<shape>

					<arc radius="0.09" begin_angle="-40" end_angle="40"/>

				</shape>

			</kicker>

			<dribbler stickiness="100">

				<shape>

					<arc radius="0.1125" begin_angle="-40" end_angle="40"/>

				</shape>

			</dribbler>

		</robot>

		<robot name="Team A-4" team="1" id="4" mass="2.2" elasticity=".5">

			<geometry start_position="1.2,0,0" start_velocity="0,0,0">

				<shape>

				<circle radius="0.09" orientation="3.14159"/>

				</shape>

			</geometry>

			<kicker kick_impulse="5" reset_time="0.1">

				<shape>

					<arc radius="0.09" begin_angle="-40" end_angle="40"/>

				</shape>

			</kicker>

			<dribbler stickiness="100">

				<shape>

					<arc radius="0.1125" begin_angle="-40" end_angle="40"/>

				</shape>

			</dribbler>

		</robot>







<!--Robots of opposite team -->



            <robot name="Team B-0" team="0" id="0" mass="2.2" elasticity=".5">

			<geometry start_position="-0.15,0,0" start_velocity="0,0,0">

				<shape>

				<circle radius="0.09" orientation="0"/>

				</shape>

			</geometry>

			<kicker kick_impulse="5" reset_time="0.1">

				<shape>

					<arc radius="0.09" begin_angle="-40" end_angle="40"/>

				</shape>

			</kicker>

			<dribbler stickiness="100">

				<shape>

					<arc radius="0.1125" begin_angle="-40" end_angle="40"/>

				</shape>

			</dribbler>

		</robot>

		<robot name="Team B-1" team="0" id="1" mass="2.2" elasticity=".5">

			<geometry start_position="-0.2,0.2,0" start_velocity="0,0,0">

				<shape>

				<circle radius="0.09" orientation="0"/>

				</shape>

			</geometry>

			<kicker kick_impulse="5" reset_time="0.1">

				<shape>

					<arc radius="0.09" begin_angle="-40" end_angle="40"/>

				</shape>

			</kicker>

			<dribbler stickiness="100">

				<shape>

					<arc radius="0.1125" begin_angle="-40" end_angle="40"/>

				</shape>

			</dribbler>

		</robot>

		<robot name="Team B-2" team="0" id="2" mass="2.2" elasticity=".5">

			<geometry start_position="-0.2,-0.2,0" start_velocity="0,0,0">

				<shape>

				<circle radius="0.09" orientation="0"/>

				</shape>

			</geometry>

			<kicker kick_impulse="5" reset_time="0.1">

				<shape>

					<arc radius="0.09" begin_angle="-40" end_angle="40"/>

				</shape>

			</kicker>

			<dribbler stickiness="100">

				<shape>

					<arc radius="0.1125" begin_angle="-40" end_angle="40"/>

				</shape>

			</dribbler>

		</robot>

		<robot name="Team B-3" team="0" id="3" mass="2.2" elasticity=".5">

			<geometry start_position="-1,0,0" start_velocity="0,0,0">

				<shape>

				<circle radius="0.09" orientation="0"/>

				</shape>

			</geometry>

			<kicker kick_impulse="5" reset_time="0.1">

				<shape>

					<arc radius="0.09" begin_angle="-40" end_angle="40"/>

				</shape>

			</kicker>

			<dribbler stickiness="100">

				<shape>

					<arc radius="0.1125" begin_angle="-40" end_angle="40"/>

				</shape>

			</dribbler>

		</robot>

		<robot name="Team B-4" team="0" id="4" mass="2.2" elasticity=".5">

			<geometry start_position="-1.2,0,0" start_velocity="0,0,0">

				<shape>

				<circle radius="0.09" orientation="0"/>

				</shape>

			</geometry>

			<kicker kick_impulse="5" reset_time="0.1">

				<shape>

					<arc radius="0.09" begin_angle="-40" end_angle="40"/>

				</shape>

			</kicker>

			<dribbler stickiness="100">

				<shape>

					<arc radius="0.1125" begin_angle="-40" end_angle="40"/>

				</shape>

			</dribbler>

		</robot>



<!--Our field -->

		<field static_friction="0.34" kinetic_friction=".3" elasticity="0">

			<geometry start_position="0,0,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="2.8" width="2.3" orientation="0"/>

				</shape>

			</geometry>

		</field>



<!--Goals-->

		<goal team="0">

			<geometry start_position="-1.49,0,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.7" width="0.18" orientation="2"/>

				</shape>

			</geometry>

		</goal>

		<goal team="1">

			<geometry start_position="1.49,0,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.7" width="0.18" orientation="2"/>

				</shape>

			</geometry>

		</goal>

<!--Walls-->

		<wall name="Top" elasticity=".8">

			<geometry start_position="0,1.175,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="2.9" width="0.05" orientation="0"/>

				</shape>

			</geometry>

		</wall>

            

		<wall name="bottom" elasticity=".8">

			<geometry start_position="0,-1.175,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="2.9" width="0.05" orientation="0"/>

				</shape>

			</geometry>

		</wall>





		

		<wall name="upper_left_side" elasticity=".8">

			<geometry start_position="-1.425,0.75,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.8" width="0.05" orientation="2"/>

				</shape>

			</geometry>

		</wall>

		<wall name="upper_right_side" elasticity=".8">

			<geometry start_position="1.425,0.75,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.8" width="0.05" orientation="2"/>

				</shape>

			</geometry>

		</wall>

		<wall name="lower_left_side" elasticity=".8">

			<geometry start_position="-1.425,-0.75,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.8" width="0.05" orientation="2"/>

				</shape>

			</geometry>

		</wall>

            <wall name="lower_right_side" elasticity=".8">

			<geometry start_position="1.425,-0.75,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.8" width="0.05" orientation="2"/>

				</shape>

			</geometry>

		</wall>



		<wall name="left_goal_backside" elasticity=".8">

			<geometry start_position="-1.585,0,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.7" width="0.01" orientation="2"/>

				</shape>

			</geometry>

		</wall>

               <wall name="right_goal_backside" elasticity=".8">

			<geometry start_position="1.585,0,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.7" width="0.01" orientation="2"/>

				</shape>

			</geometry>

		</wall>



		<wall name="left_goal_upside" elasticity=".8">

			<geometry start_position="-1.49,0.355,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.18" width="0.01" orientation="0"/>

				</shape>

			</geometry>

		</wall>

                <wall name="right_goal_upside" elasticity=".8">

			<geometry start_position="1.49,0.355,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.18" width="0.01" orientation="0"/>

				</shape>

			</geometry>

		</wall>

		<wall name="left_goal_downside" elasticity=".8">

			<geometry start_position="-1.49,-0.355,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.18" width="0.01" orientation="0"/>

				</shape>

			</geometry>

		</wall>

                <wall name="right_goal_downside" elasticity=".8">

			<geometry start_position="1.49,-0.355,0" start_velocity="0,0,0">

				<shape>

				<rectangle length="0.18" width="0.01" orientation="0"/>

				</shape>

			</geometry>

		</wall>







<!---Balls-->

            

            <ball mass="0.0483" static_friction="0.1" kinetic_friction="0.25" elasticity="0.9">

			<geometry start_position="[0,0,0]" start_velocity="0,0,0">

				<shape>

				<circle radius="0.0427" orientation="0"/>

				</shape>

			</geometry>

		</ball>







	</sim_world>

</parameter_file>









