This is the configuration of the arena:
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<arena size="6, 3, 0" center="0,0,0" positional_grid_size="8,8,1">
<floor id="f" source="image" path="floor.PNG" pixels_per_meter="100"/>
<!-- 4 walls to delimit arena -->
<box id="bn" size="0.05, 3, 0.2" movable="false">
<body position="3, 0, 0" orientation="0,0,0" />
</box>
<box id="bs" size="0.05, 3, 0.2" movable="false">
<body position="-3,0,0" orientation="0,0,0" />
</box>
<box id="be" size="6, 0.05, 0.2" movable="false">
<body position="0,-1.49,0" orientation="0,0,0" />
</box>
<box id="bw" size="6, 0.05, 0.2" movable="false">
<body position="0,1.49,0" orientation="0,0,0" />
</box>