###########################################
# Description for a CS Freiburg fieldplayer
#
# Exampe configuration file for the
# robocup simulator
#
# Alexander Kleiner
#
# 30.08.2002
#
###########################################
Version = 1.2;

#server name where the simulator was started
serverName = lummerland.informatik.uni-freiburg.de;

#server port on which the server is listening
#may be changed to run multiple simulators on one host
serverPort = 1025;

#robot name for identification at server (uncritical)
robotName = berti;
robotClass = pioneer;
robotSubClass = dx;
robotID = 2;

#startup position when game is resetted
#available positions:
#       RIGHT_ATTACK
#       LEFT_ATTACK
#       RIGHT_DEFENDER
#       LEFT_DEFENDER
#       GOALKEEPER
#       PENALTY
#       CUSTOM
position  = CUSTOM;
customPosX = -2000;
customPosY = 0;
customPosTh = 0;

#determines if the player plays from left to right (HOME) of
#vice versa (GUEST)
team      = HOME;

#Used for physical simulation of impacts
weight    = 7000;		#in g

#defines what kind of motion model is used to simulate the robot
#       MATH for mathematical simulation of CoPs Stuttgart
#       NEURAL for neural network based simulation of CS-Freiburg
motionModel { 
	name=differential2WDneural;
	#maximum translational velocity
	maxTransVel = 2000;		#in mm/s
	#maximum rotational velocity
	maxRotVel = 300;		#in deg/s
};


#body of the robot you can define various primitives
#       CIRCLE, FILLED_CIRCLE, LINE, RECTANGLE
#their colors
#       BLACK,WHITE,GREEN,RED,LIGHT_RED,ORANGE,
#       ORANGE_RED,MAGENTA,CYAN,LIGHT_GREEN,DARK_OLIVE_GREEN,
#       BLUE,LIGHT_BLUE,YELLOW,LIGHT_GREY,GREY,DARK_GREY
#the collision parameter (1 = detect collision, 0 = no collision)
body {
  RECTANGLE,DARK_GREY,1,-145,-175,290,350,222,6666;
  FILLED_CIRCLE,DARK_GREY,0,0,175,290,80;
  FILLED_CIRCLE,DARK_GREY,0,-145,-85,60,180;
  FILLED_CIRCLE,DARK_GREY,0,145,-85,60,180;
  RECTANGLE,BLACK,0,-130,-155,270,160;    
};

#############################
# Sensors
#############################
    #the odometry sensor, it returns absolute cartesian coordinates
    #and the velocities
    sensor {
       name = DifferentialRobot;
       type = ODOMETRY;
       feature = CURRENT_POSITION;
       posReturn = ABS_CARTES;

       sigmaDistance = 0.9;    # 100.0 / 1000.0
       sigmaRotation = 0.017;  # 6.0   / 360 
       sigmaDrift    = 0.1;    # 100 / 1000
       wheelDistance = 350;
    };

    #The real position of the robot
    #We simply use the Plugin for DifferentialRobots without
    #any noise
    sensor {
       name = DifferentialRobot;
       type = SIMULATION;
       feature = CURRENT_POSITION;

       sigmaDistance = 0.0;
       sigmaRotation = 0.0; 
       sigmaDrift    = 0.0;
       posReturn = ABS_CARTES;
    };

    # The Velocity
    sensor {
       name = DifferentialRobot;
       type = ODOMETRY;
       feature = CURRENT_VELOCITY;
       posReturn = TRANSROT_VEL;
    };

    # The LMS 200 Laser scanner
    sensor {
       type = LRF;
       name = LMS;
       feature = SCAN;
       posReturn = REL_POLAR;
       posX = 0;
       posY = 0;
       posTh = 0;
       viewDistance = 8000;
       fieldOfView = 180;
       sigma = 0.0;
       
       # Resolution of Scanner:
       #	0: One degree
       #	1: One half degree
       resolution = 0;
       angleStartTh = -90;
    };


    #the camera detecting the ball
    sensor {
     type = CAMERA;
     name = DFWV500;
     feature = BALL_POSITION;
     posReturn = REL_POLAR;
     fieldOfView = 70;   	 	#in deg
     viewDistance = 6000; 		#in mm
     posX = 0;	      		        #in mm
     posY = 0;	      		        #in mm
     posTh = 0; 	      		#in mm
    
    sigmaDist = 10.0;
    sigmaAngle = 1.0; 
    };

    #the blue goal
    sensor {
     type = CAMERA;
     name = DFWV500;
     feature = BLUE_GOAL_POSITION;
     posReturn = REL_POLAR;
     fieldOfView = 360;   	 	#in deg
     viewDistance = 5000; 		#in mm
     posX = 0;	      		#in mm
     posY = 0;	      		#in mm
     posTh = 0; 	      		#in mm

     sigmaDist = 0;
     sigmaAngle = 0; 
    };

    #the yellow goal
    sensor {
     type = CAMERA;
     name = DFWV500;
     feature = YELLOW_GOAL_POSITION;
     posReturn = REL_POLAR;
     fieldOfView = 360;   	 	#in deg
     viewDistance = 5000; 		#in mm
     posX = 0;	      		#in mm
     posY = 0;	      		#in mm
     posTh = 0; 	      		#in mm
     sigmaDist = 0;
     sigmaAngle = 0; 
    };

    #the poles (any color)
    sensor {
     type = CAMERA;
     name = DFWV500;
     feature = POLE_POSITION;
     posReturn = REL_POLAR;
     fieldOfView = 360;   	 	#in deg
     viewDistance = 5000; 		#in mm
     posX = 0;	      		#in mm
     posY = 0;	      		#in mm
     posTh = 0; 	      		#in mm

     sigmaDist = 0;
     sigmaAngle = 0; 
    };


    #the fieldlines
    sensor {
     useSensorForMarkov = TRUE;
     type = CAMERA;
     name = DFWV500;
     feature = FIELDLINES;
     posReturn = REL_CARTES;
     fieldOfView = 360;             #in deg
     viewDistance = 8000;           #in mm
     posX = 0;                      #in mm
     posY = 0;                      #in mm
     posTh = 0;                     #in mm

     sigmaDist = 0;
     sigmaAngle = 0;
   };


    #the kicker sensor to deteckt the ball in front
    #sensor {
    # type = BUMPER;
    # name = flipper_shoot;
    # detect = BALL;
    # posReturn = DIGITAL;
    # fieldOfView = 180;		#in deg
    # viewDistance = 340;		#in mm
    #};

    #the stall sensor to detect the robots stall
    #sensor {
    # type = CURRENT;
    # name = WheelStuck;
    # detect = WHEEL_STALL;
    # posReturn = NONE;
    #};

#############################
# Manipulators
#############################  
    manipulator {
     name = kicker;
     defaultState = 1;
     timeToChange = 100;    		#in ms
     acceleration = 10000; 		#in mm/s^2
        state 0 {
          RECTANGLE,BLACK,1,-125,-235,250,20;
          RECTANGLE,BLACK,1,-100,-230,20,50;
          RECTANGLE,BLACK,1,100,-230,20,50;    
         };
         state 1 {
          RECTANGLE,BLACK,1,-125,-200,250,20;  
          RECTANGLE,BLACK,1,-100,-190,20,5;
          RECTANGLE,BLACK,1,80,-190,20,5;  
         };
    };

    manipulator {
       name = leftEar;
       defaultState = 1;
       timeToChange = 0;
       acceleration = 0;
       state 0 {
        RECTANGLE,BLACK,1,-155,-275,15,65;
        RECTANGLE,BLACK,1,-155,-210,5,40;
       };
       state 1 {
        RECTANGLE,BLUE,1,-155,-210,5,40;
       };
    };

    manipulator {
          name = rightEar;
          defaultState = 1;
          timeToChange = 0;
          acceleration = 0;
      state 0 {
        RECTANGLE,BLACK,1,140,-275,15,65;
        RECTANGLE,BLACK,1,150,-210,5,40;
      };
      state 1 {
        RECTANGLE,BLUE,1,150,-210,5,40;
      };
    };