import sys
from math import sin, cos

print('started', file=sys.stderr)

# Version check I/O

magic_string, version = input().split()
if magic_string == 'ROBOIME_AI_PROTOCOL' and int(version) == 1:
    print('COMPATIBLE 1')
else:
    print('NOT_COMPATIBLE 1')
    sys.exit(0)

print('compatible', file=sys.stderr)

# Geometry input

i = iter(input().split())
field_width = float(next(i))
field_height = float(next(i))
goal_width = float(next(i))
center_circle_radius = float(next(i))
defense_radius = float(next(i))
defense_stretch = float(next(i))

print('initialized', file=sys.stderr)

# Game state I/O

while True:

    # State

    ids = []
    x, y, w = 0, 0, 0
    tx, ty, tw = 0, 0, 0

    # Input

    i = iter(input().split())
    counter = int(next(i))
    timestamp = float(next(i))
    referee_state = next(i)
    referee_time_left = float(next(i))
    score_player = int(next(i))
    score_opponent = int(next(i))
    goalie_id_player = int(next(i))
    goalie_id_opponent = int(next(i))

    ball_x, ball_y, ball_vx, ball_vy = map(float, input().split())

    robot_count_player = int(input())

    for _ in range(robot_count_player):
        robot_id, robot_x, robot_y, robot_w, robot_vx, robot_vy, robot_vw = map(float, input().split())
        robot_id = int(robot_id)
        ids.append(robot_id)
        if robot_id == 0:
            x, y, w = robot_x, robot_y, robot_w

    robot_count_opponent = int(input())

    for _ in range(robot_count_opponent):
        robot_id, robot_x, robot_y, robot_w, robot_vx, robot_vy, robot_vw = map(float, input().split())
        robot_id = int(robot_id)

    tx, ty, tw = ball_x, ball_y, 0

    print(counter)

    for robot_id in ids:
        v_tangent = 0.0
        v_normal = 0.0
        v_angular = 0.0
        kick_force = 0.0
        chip_force = 0.0
        dribble = 0

        if robot_id == 0:
            PL = 0.40
            PW = 0.80
            v_tangent  = PL * ((tx - x) * cos(w) + (ty - y) * sin(w))
            v_normal   = PL * ((ty - y) * cos(w) - (tx - x) * sin(w))
            v_angular  = PW * (tw - w)
            kick_force = 4.0
            chip_force = 0.0
            dribble = 1

        print(v_tangent, v_normal, v_angular, kick_force, chip_force, dribble)