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Goalie robot illustration and a photo of the setup, showing the placement of vision sensor, goalie arm, and goal. The white or orange balls have a diameter of 3 or 4 cm and are viewed against the light brown wood table. The reflectance ratio between balls and table is about 1.3. The retina view extends out to 1 m from the goal line. The goalie hand is 5 cm wide and the goal is 45 cm wide.
