grid = key=master,group=grid,depth=1,widthcm=16,heightcm=8,gcell=20, \
       xmarg=0,ymarg=0,shrink=false,rounded=true,                    \
       border_thickness=very thin,border_color=gray50,               \
       gback_color=gray99,gline_thickness=thin,gline_color=gray85
 
panel = key=info_red_panel,group=info_red,depth=2,x=54,y=29,            \
        widthcm=2.5,heightcm=1,rounded=true,border_thickness=very thin, \
        border_color=black,panel_color=beige
 
panel = key=info_blue_panel,group=info_blue,depth=2,x=-79,y=29,         \
        widthcm=2.5,heightcm=1,rounded=true,border_thickness=very thin, \
        border_color=black,panel_color=beige
 
label = key=scale,group=playing_field,depth=90,label=20 m, \
        label_color=black,label_size=tiny,x=-25,y=32
 
line = key=grid_cell_horz,group=playing_field,depth=90,x1=-40,y1=30, \
       x2=-20,y2=30,line_color=gray30,line_style=solid,              \
       line_thickness=very thin,endtype1=flat,endtype2=flat
 
line = key=grid_cell_vert,group=playing_field,depth=90,x1=-30,y1=40, \
       x2=-30,y2=20,line_color=gray30,line_style=solid,              \
       line_thickness=very thin,endtype1=flat,endtype2=flat
 
circle = key=home_zone_red,group=playing_field,depth=100,x=-60,y=0, \
         radius=10,line_color=gray50,fill_color=empty,              \
         line_style=dashed,line_thickness=very thin
 
frame = key=framekey,group=frame,depth=100,xl=-80,xh=80,yl=-40,yh=40
 
circle = key=home_zone_blue,group=playing_field,depth=100,x=60,y=0,     \
         radius=10,line_color=black,fill_color=empty,line_style=dashed, \
         line_thickness=very thin
 
swarmpath = key=,group=,depth=100,begtime=0,endtime=0,nowtime=0
 
label = key=info_red_label2,group=info_red,depth=100,label=Red Humans, \
        label_color=black,label_size=tiny,x=62.5,y=32
 
label = key=info_red_label1,group=info_red,depth=100,label=Red Robots, \
        label_color=black,label_size=tiny,x=62.5,y=36
 
label = key=info_blue_label1,group=info_blue,depth=100,              \
        label=Blue Robots,label_color=black,label_size=tiny,x=-62.5, \
        y=36
 
label = key=info_blue_label2,group=info_blue,depth=100,              \
        label=Blue Humans,label_color=black,label_size=tiny,x=-62.5, \
        y=32
 
label = key=red_team_zone,group=playing_field,depth=205,            \
        label=Red Team Zone,label_color=black,label_size=tiny,x=50, \
        y=-16
 
label = key=red_team_flag,group=playing_field,depth=205,            \
        label=Red Team Flag,label_color=black,label_size=tiny,x=70, \
        y=-12
 
label = key=blue_team_zone,group=playing_field,depth=205,             \
        label=Blue Team Zone,label_color=black,label_size=tiny,x=-50, \
        y=-16
 
label = key=blue_team_flag,group=playing_field,depth=205,             \
        label=Blue Team Flag,label_color=black,label_size=tiny,x=-70, \
        y=-12
 
vessel = key=robot_blue_key1,group=info_blue,depth=900,x=-76,y=36, \
         hdg=45,body_type=m200,length=2.4,wid_mbody=1.728,         \
         wid_stern=0.13,pct_mbody=0.5,line_color=black,            \
         line_thickness=ultra thin,fill_color=dodgerblue
 
vessel = key=robot_blue_key2,group=info_blue,depth=900,x=-72.5,y=36, \
         hdg=45,body_type=m200,length=2.4,wid_mbody=1.728,           \
         wid_stern=0.13,pct_mbody=0.5,line_color=black,              \
         line_thickness=ultra thin,fill_color=dodgerblue
 
vessel = key=robot_red_key1,group=info_red,depth=900,x=76,y=36,hdg=45, \
         body_type=m200,length=2.4,wid_mbody=1.728,wid_stern=0.13,     \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,     \
         fill_color=pink
 
vessel = key=human_blue_key1,group=info_blue,depth=900,x=-76,y=32,      \
         hdg=45,body_type=kayak,length=4,wid_mbody=1.6,wid_stern=1.086, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,      \
         fill_color=lightskyblue
 
vessel = key=robot_red_key2,group=info_red,depth=900,x=72.5,y=36, \
         hdg=45,body_type=m200,length=2.4,wid_mbody=1.728,        \
         wid_stern=0.13,pct_mbody=0.5,line_color=black,           \
         line_thickness=ultra thin,fill_color=pink
 
vessel = key=human_red_key2,group=info_red,depth=900,x=72.5,y=32,       \
         hdg=45,body_type=kayak,length=4,wid_mbody=1.6,wid_stern=1.086, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,      \
         fill_color=pink
 
vessel = key=human_red_key1,group=info_red,depth=900,x=76,y=32,hdg=45, \
         body_type=kayak,length=4,wid_mbody=1.6,wid_stern=1.086,       \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,     \
         fill_color=pink
 
vessel = key=human_blue_key2,group=info_blue,depth=900,x=-72.5,y=32,    \
         hdg=45,body_type=kayak,length=4,wid_mbody=1.6,wid_stern=1.086, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,      \
         fill_color=lightskyblue
 
vessel = key=robot_blue_one,group=robots,depth=901,x=-20,y=5,hdg=90, \
         body_type=m200,length=2.4,wid_mbody=1.728,wid_stern=0.13,   \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,   \
         fill_color=dodgerblue
 
vessel = key=robot_blue_two,group=robots,depth=901,x=-20,y=-5,hdg=90, \
         body_type=m200,length=2.4,wid_mbody=1.728,wid_stern=0.13,    \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,    \
         fill_color=dodgerblue
 
vessel = key=human_blue_one,group=mokai,depth=902,x=-20,y=15,hdg=90, \
         body_type=kayak,length=4.5,wid_mbody=1.8,wid_stern=1.222,   \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,   \
         fill_color=lightskyblue
 
vessel = key=human_blue_two,group=mokai,depth=902,x=-20,y=-15,hdg=90, \
         body_type=kayak,length=4.5,wid_mbody=1.8,wid_stern=1.222,    \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,    \
         fill_color=lightskyblue
 
point = key=flag_red,group=playing_field,depth=904,x=-60,y=0, \
        point_size=0.05,point_color=blue
 
point = key=flag_blue,group=playing_field,depth=904,x=60,y=0, \
        point_size=0.05,point_color=red
 
line = key=blue_team_flag,group=playing_field,depth=905,x1=-76,y1=-10, \
       x2=-61,y2=-1,line_color=black,line_style=solid,                 \
       line_thickness=thin,endtype2=arrow
 
line = key=midfield,group=playing_field,depth=905,x1=0,y1=40,x2=0,    \
       y2=-40,line_color=gray25,line_style=dashed,line_thickness=thin
 
line = key=red_team_flag,group=playing_field,depth=905,x1=73,y1=-10, \
       x2=61,y2=-1,line_color=black,line_style=solid,                \
       line_thickness=thin,endtype2=arrow
 
line = key=red_team_zone,group=playing_field,depth=905,x1=50,y1=-14, \
       x2=55,y2=-9,line_color=black,line_style=solid,                \
       line_thickness=thin,endtype2=arrow
 
line = key=blue_team_zone,group=playing_field,depth=905,x1=-50,y1=-14, \
       x2=-55,y2=-9,line_color=black,line_style=solid,                 \
       line_thickness=thin,endtype2=arrow
 
vessel = key=robot_red_two,group=robots,depth=910,x=20,y=-5,hdg=270, \
         body_type=m200,length=2.4,wid_mbody=1.728,wid_stern=0.13,   \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,   \
         fill_color=pink
 
vessel = key=robot_red_one,group=robots,depth=910,x=20,y=5,hdg=270, \
         body_type=m200,length=2.4,wid_mbody=1.728,wid_stern=0.13,  \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,  \
         fill_color=pink
 
vessel = key=human_red_two,group=mokai,depth=920,x=20,y=-15,hdg=270, \
         body_type=kayak,length=4.5,wid_mbody=1.8,wid_stern=1.222,   \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,   \
         fill_color=pink
 
vessel = key=human_red_one,group=mokai,depth=920,x=20,y=15,hdg=270, \
         body_type=kayak,length=4.5,wid_mbody=1.8,wid_stern=1.222,  \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,  \
         fill_color=pink