function copysimoutdatafromturtle(turtle)
%for real robot data, turtle=[1:6], for simulator data, turtle='sim'

%init
if strcmp(turtle,'sim'),
    simflag=1;
    turtle='simulation turtle';
else simflag=0;
end
curdir = cd;

%change directory
if simflag,
    cd /home/robocup/svn/trunk/src/Turtle2/Tools/trc;
else cd /home/robocup;
end

answer = questdlg('copy data from robot?');
if ~simflag && isequal(answer,'Yes')
    % get motion data
    if exist(['./motion_' turtle '.mat'],'file')
        delete(['./motion_' turtle '.mat'])
    end
    try
        eval(['!scp robocup@' turtle ':/home/robocup/motion.mat /home/robocup/'])
        copyfile('/home/robocup/motion.mat',['/home/robocup/motion_' turtle '.mat'])
    catch
    end
    
    % get strategy data
    if exist(['./strategy_' turtle '.mat'],'file')
        delete(['./strategy_' turtle '.mat'])
    end
    try
        eval(['!scp robocup@' turtle ':/home/robocup/strategy.mat /home/robocup/'])
        copyfile('/home/robocup/strategy.mat',['/home/robocup/strategy_' turtle '.mat'])
    catch
    end

    % get vision data
    if exist(['./vision_' turtle '.mat'],'file')
        delete(['./vision_' turtle '.mat'])
    end
    try
        eval(['!scp robocup@' turtle ':/home/robocup/vision_turtle.mat /home/robocup'])
        copyfile('/home/robocup/vision_turtle.mat',['/home/robocup/vision_' turtle '.mat'])        
    catch
    end
end

% plot motion data
if simflag, 
    fn='./motion_sim.mat';
else fn=['./motion_' turtle '.mat'];
end
if exist(fn)
    k=load(fn);
    fnames = fieldnames(k);
    if length(fnames)>0
        [X,legenddata] = getdata(k,fnames);
        dt=1/get_global_par('MOTION_SAMPLE_RATE'); %s
        t=[0:size(X,1)-1]'*dt;

        figure
        plot(t,X)
        title('motion data')
        xlabel('time')
        ylabel('data')
        legend(legenddata{:})
    end
else
    disp(['no motion data found on ' turtle])
end

% plot strategy data
if simflag, 
    fn='./strategy.mat';
else fn=['./strategy_' turtle '.mat'];
end
if exist(fn)
    k=load(fn);
    fnames = fieldnames(k);
    if length(fnames)>0
        [X,legenddata] = getdata(k,fnames);
        dt=1/get_global_par('STRATEGY_SAMPLE_RATE'); %s
        t=[0:size(X,1)-1]'*dt;

        figure
        plot(t,X)
        title('strategy data')
        xlabel('time')
        ylabel('data')
        legend(legenddata{:})
    end
else
    disp(['no strategy data found on ' turtle])
end

% plot vision data
fn=['./vision_' turtle '.mat'];
if exist(fn) && ~simflag,
    k=load(fn);
    fnames = fieldnames(k);
    if length(fnames)>0
        [X,legenddata] = getdata(k,fnames);
        dt = 1/get_global_par('VISION_SAMPLE_RATE'); %s
        t=[0:size(X,1)-1]'*dt;

        figure
        plot(t,X)
        title('vision data')
        xlabel('time')
        ylabel('data')
        legend(legenddata{:})
    end
elseif ~simflag,
    disp(['no vision data found on ' turtle])
end
cd(curdir)

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function [X,legenddata] =getdata(k,fnames)
X=[];
legenddata = {};

%loop through variables
for i=1:length(fnames)
    %get data name char
    dataname = fnames{i};
    tmp = eval(['k.' dataname]);
    
    %check if it is a struct or numeric "to workspace"
    if ~isstruct(tmp)
        x=tmp;
    else
        eval(['x=k.' dataname '.signals.values;'])
    end
    
    %conditioning of data
    x=double(squeeze(x));
    if size(x,2)>size(x,1)
        x=x';
    end

    %add data to collection matrix 
    if i==1 %length of first data matrix determines length of the collection matrix
        X = x; 
    elseif size(x,1)==size(X,1)
        X = [X x];
    elseif size(x,1)>size(X,1)
        X = [X x(1:size(X,1),:)];
    else
        X = [X [x;zeros(size(X,1)-size(x,1),size(x,2))]];
    end

    %gather legend data and tagging it according to its size
    if size(x,2)==1
        legenddata=[legenddata dataname];
    elseif size(x,2)==2
        legenddata=[legenddata [dataname 'x']];
        legenddata=[legenddata [dataname 'y']];
    elseif size(x,2)==3
        legenddata=[legenddata [dataname 'x']];
        legenddata=[legenddata [dataname 'y']];
        legenddata=[legenddata [dataname 'z']];
    else
        for j=1:size(x,2)
            legenddata=[legenddata [dataname int2str(j)]];
        end
    end
end