function build_sim_all(varargin)

%init
curdir=pwd;
addpathrobocup;
turtle_select=[]; desfield='';
for i1=1:nargin,
    if isnumeric(varargin{i1}),
        turtle_select=[turtle_select,varargin{i1}];
    else
        cd /home/robocup/svn/trunk/src/Turtle2/Global_par
        fieldnamelist=getfieldnamelist;
        cd(curdir);
        for i2=1:length(fieldnamelist),
            if strcmp(fieldnamelist{i2},varargin{i1}),
                desfield=varargin{i1};
                break;
            end
        end
        if isempty(desfield),
            disp('You requested a non-existing field! Building for default field instead.');
        end
    end
end
%set default values
if isempty(turtle_select),
    turtle_select=[1,2,3,4,5,6];
end
if isempty(desfield),
    desfield = get_global_par('DEFAULTSIMFIELD');
end

% build simulator
build_simulator(desfield);

% build motion for simulator
build_sim_motion(turtle_select,desfield);

% build vision for simulator
build_sim_vision(turtle_select,desfield);

% build worldmodel lite for simulator
build_sim_worldmodel(turtle_select,desfield);

end