function data = setgreenfield3Dparameters
%field names and sizes in simdata
data.simdatafields = {'pose',3;
    'ball',3;
    'ballWM',3;
    'obstacles',3*get_global_par('MAXNOBJ_LOCAL');
    'opponent',3*get_global_par('MAX_OPPONENTS');    
    'target',3;
    'subtarget',2;
    'skillid',1;
    'CPB',1;
    'lineposrecog',2;
    'teamcolor',1;
    'blueishomegoal',1;
    'batteryVoltage',1;
    'emergencyStatus',1;
    'roleId',2;            % current role id, previous role id
    'refboxRole',1;        % refbox role id
    'defaultRole',1;       % assigned role id
    'CPBteam',1;
    'robotInField',1;
    'ballFound',1;
    'cpu0Load',1;
    'cpu1Load',1;
    'cameraStatus',1;
    'restartCountMotion',1;
    'restartCountVision',1;
    'restartCountWorldmodel',1;
    'ball_confidence',1;
    'motion_status',1;
    'vision_status',1;
    'worldmodel_status',1;
    'active',1;
    'waypoints',2*8;
    'pathlength',1;
    'setpoint',65};
data.nturtles = get_global_par('MAX_TURTLES');
data.commdatalength = sum([data.simdatafields{:,2}])-1;
data.simdatalength = (data.commdatalength+1)*data.nturtles+1;
assignin('base','datalength',data.commdatalength);