-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathrules.html
1132 lines (1132 loc) · 61.7 KB
/
rules.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="generator" content="Asciidoctor 2.0.16">
<meta name="author" content="2022-01-22">
<title>RoboCupJunior Soccer Simulation Demo Competition 2022</title>
<link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Open+Sans:300,300italic,400,400italic,600,600italic%7CNoto+Serif:400,400italic,700,700italic%7CDroid+Sans+Mono:400,700">
<style>
/*! Asciidoctor default stylesheet | MIT License | https://asciidoctor.org */
/* Uncomment the following line when using as a custom stylesheet */
/* @import "https://fonts.googleapis.com/css?family=Open+Sans:300,300italic,400,400italic,600,600italic%7CNoto+Serif:400,400italic,700,700italic%7CDroid+Sans+Mono:400,700"; */
html{font-family:sans-serif;-webkit-text-size-adjust:100%}
a{background:none}
a:focus{outline:thin dotted}
a:active,a:hover{outline:0}
h1{font-size:2em;margin:.67em 0}
b,strong{font-weight:bold}
abbr{font-size:.9em}
abbr[title]{cursor:help;border-bottom:1px dotted #dddddf;text-decoration:none}
dfn{font-style:italic}
hr{height:0}
mark{background:#ff0;color:#000}
code,kbd,pre,samp{font-family:monospace;font-size:1em}
pre{white-space:pre-wrap}
q{quotes:"\201C" "\201D" "\2018" "\2019"}
small{font-size:80%}
sub,sup{font-size:75%;line-height:0;position:relative;vertical-align:baseline}
sup{top:-.5em}
sub{bottom:-.25em}
img{border:0}
svg:not(:root){overflow:hidden}
figure{margin:0}
audio,video{display:inline-block}
audio:not([controls]){display:none;height:0}
fieldset{border:1px solid silver;margin:0 2px;padding:.35em .625em .75em}
legend{border:0;padding:0}
button,input,select,textarea{font-family:inherit;font-size:100%;margin:0}
button,input{line-height:normal}
button,select{text-transform:none}
button,html input[type=button],input[type=reset],input[type=submit]{-webkit-appearance:button;cursor:pointer}
button[disabled],html input[disabled]{cursor:default}
input[type=checkbox],input[type=radio]{padding:0}
button::-moz-focus-inner,input::-moz-focus-inner{border:0;padding:0}
textarea{overflow:auto;vertical-align:top}
table{border-collapse:collapse;border-spacing:0}
*,::before,::after{box-sizing:border-box}
html,body{font-size:100%}
body{background:#fff;color:rgba(0,0,0,.8);padding:0;margin:0;font-family:"Noto Serif","DejaVu Serif",serif;line-height:1;position:relative;cursor:auto;-moz-tab-size:4;-o-tab-size:4;tab-size:4;word-wrap:anywhere;-moz-osx-font-smoothing:grayscale;-webkit-font-smoothing:antialiased}
a:hover{cursor:pointer}
img,object,embed{max-width:100%;height:auto}
object,embed{height:100%}
img{-ms-interpolation-mode:bicubic}
.left{float:left!important}
.right{float:right!important}
.text-left{text-align:left!important}
.text-right{text-align:right!important}
.text-center{text-align:center!important}
.text-justify{text-align:justify!important}
.hide{display:none}
img,object,svg{display:inline-block;vertical-align:middle}
textarea{height:auto;min-height:50px}
select{width:100%}
.subheader,.admonitionblock td.content>.title,.audioblock>.title,.exampleblock>.title,.imageblock>.title,.listingblock>.title,.literalblock>.title,.stemblock>.title,.openblock>.title,.paragraph>.title,.quoteblock>.title,table.tableblock>.title,.verseblock>.title,.videoblock>.title,.dlist>.title,.olist>.title,.ulist>.title,.qlist>.title,.hdlist>.title{line-height:1.45;color:#7a2518;font-weight:400;margin-top:0;margin-bottom:.25em}
div,dl,dt,dd,ul,ol,li,h1,h2,h3,#toctitle,.sidebarblock>.content>.title,h4,h5,h6,pre,form,p,blockquote,th,td{margin:0;padding:0}
a{color:#2156a5;text-decoration:underline;line-height:inherit}
a:hover,a:focus{color:#1d4b8f}
a img{border:0}
p{line-height:1.6;margin-bottom:1.25em;text-rendering:optimizeLegibility}
p aside{font-size:.875em;line-height:1.35;font-style:italic}
h1,h2,h3,#toctitle,.sidebarblock>.content>.title,h4,h5,h6{font-family:"Open Sans","DejaVu Sans",sans-serif;font-weight:300;font-style:normal;color:#ba3925;text-rendering:optimizeLegibility;margin-top:1em;margin-bottom:.5em;line-height:1.0125em}
h1 small,h2 small,h3 small,#toctitle small,.sidebarblock>.content>.title small,h4 small,h5 small,h6 small{font-size:60%;color:#e99b8f;line-height:0}
h1{font-size:2.125em}
h2{font-size:1.6875em}
h3,#toctitle,.sidebarblock>.content>.title{font-size:1.375em}
h4,h5{font-size:1.125em}
h6{font-size:1em}
hr{border:solid #dddddf;border-width:1px 0 0;clear:both;margin:1.25em 0 1.1875em}
em,i{font-style:italic;line-height:inherit}
strong,b{font-weight:bold;line-height:inherit}
small{font-size:60%;line-height:inherit}
code{font-family:"Droid Sans Mono","DejaVu Sans Mono",monospace;font-weight:400;color:rgba(0,0,0,.9)}
ul,ol,dl{line-height:1.6;margin-bottom:1.25em;list-style-position:outside;font-family:inherit}
ul,ol{margin-left:1.5em}
ul li ul,ul li ol{margin-left:1.25em;margin-bottom:0}
ul.square li ul,ul.circle li ul,ul.disc li ul{list-style:inherit}
ul.square{list-style-type:square}
ul.circle{list-style-type:circle}
ul.disc{list-style-type:disc}
ol li ul,ol li ol{margin-left:1.25em;margin-bottom:0}
dl dt{margin-bottom:.3125em;font-weight:bold}
dl dd{margin-bottom:1.25em}
blockquote{margin:0 0 1.25em;padding:.5625em 1.25em 0 1.1875em;border-left:1px solid #ddd}
blockquote,blockquote p{line-height:1.6;color:rgba(0,0,0,.85)}
@media screen and (min-width:768px){h1,h2,h3,#toctitle,.sidebarblock>.content>.title,h4,h5,h6{line-height:1.2}
h1{font-size:2.75em}
h2{font-size:2.3125em}
h3,#toctitle,.sidebarblock>.content>.title{font-size:1.6875em}
h4{font-size:1.4375em}}
table{background:#fff;margin-bottom:1.25em;border:1px solid #dedede;word-wrap:normal}
table thead,table tfoot{background:#f7f8f7}
table thead tr th,table thead tr td,table tfoot tr th,table tfoot tr td{padding:.5em .625em .625em;font-size:inherit;color:rgba(0,0,0,.8);text-align:left}
table tr th,table tr td{padding:.5625em .625em;font-size:inherit;color:rgba(0,0,0,.8)}
table tr.even,table tr.alt{background:#f8f8f7}
table thead tr th,table tfoot tr th,table tbody tr td,table tr td,table tfoot tr td{line-height:1.6}
h1,h2,h3,#toctitle,.sidebarblock>.content>.title,h4,h5,h6{line-height:1.2;word-spacing:-.05em}
h1 strong,h2 strong,h3 strong,#toctitle strong,.sidebarblock>.content>.title strong,h4 strong,h5 strong,h6 strong{font-weight:400}
.center{margin-left:auto;margin-right:auto}
.stretch{width:100%}
.clearfix::before,.clearfix::after,.float-group::before,.float-group::after{content:" ";display:table}
.clearfix::after,.float-group::after{clear:both}
:not(pre).nobreak{word-wrap:normal}
:not(pre).nowrap{white-space:nowrap}
:not(pre).pre-wrap{white-space:pre-wrap}
:not(pre):not([class^=L])>code{font-size:.9375em;font-style:normal!important;letter-spacing:0;padding:.1em .5ex;word-spacing:-.15em;background:#f7f7f8;border-radius:4px;line-height:1.45;text-rendering:optimizeSpeed}
pre{color:rgba(0,0,0,.9);font-family:"Droid Sans Mono","DejaVu Sans Mono",monospace;line-height:1.45;text-rendering:optimizeSpeed}
pre code,pre pre{color:inherit;font-size:inherit;line-height:inherit}
pre>code{display:block}
pre.nowrap,pre.nowrap pre{white-space:pre;word-wrap:normal}
em em{font-style:normal}
strong strong{font-weight:400}
.keyseq{color:rgba(51,51,51,.8)}
kbd{font-family:"Droid Sans Mono","DejaVu Sans Mono",monospace;display:inline-block;color:rgba(0,0,0,.8);font-size:.65em;line-height:1.45;background:#f7f7f7;border:1px solid #ccc;border-radius:3px;box-shadow:0 1px 0 rgba(0,0,0,.2),inset 0 0 0 .1em #fff;margin:0 .15em;padding:.2em .5em;vertical-align:middle;position:relative;top:-.1em;white-space:nowrap}
.keyseq kbd:first-child{margin-left:0}
.keyseq kbd:last-child{margin-right:0}
.menuseq,.menuref{color:#000}
.menuseq b:not(.caret),.menuref{font-weight:inherit}
.menuseq{word-spacing:-.02em}
.menuseq b.caret{font-size:1.25em;line-height:.8}
.menuseq i.caret{font-weight:bold;text-align:center;width:.45em}
b.button::before,b.button::after{position:relative;top:-1px;font-weight:400}
b.button::before{content:"[";padding:0 3px 0 2px}
b.button::after{content:"]";padding:0 2px 0 3px}
p a>code:hover{color:rgba(0,0,0,.9)}
#header,#content,#footnotes,#footer{width:100%;margin:0 auto;max-width:62.5em;*zoom:1;position:relative;padding-left:.9375em;padding-right:.9375em}
#header::before,#header::after,#content::before,#content::after,#footnotes::before,#footnotes::after,#footer::before,#footer::after{content:" ";display:table}
#header::after,#content::after,#footnotes::after,#footer::after{clear:both}
#content{margin-top:1.25em}
#content::before{content:none}
#header>h1:first-child{color:rgba(0,0,0,.85);margin-top:2.25rem;margin-bottom:0}
#header>h1:first-child+#toc{margin-top:8px;border-top:1px solid #dddddf}
#header>h1:only-child,body.toc2 #header>h1:nth-last-child(2){border-bottom:1px solid #dddddf;padding-bottom:8px}
#header .details{border-bottom:1px solid #dddddf;line-height:1.45;padding-top:.25em;padding-bottom:.25em;padding-left:.25em;color:rgba(0,0,0,.6);display:flex;flex-flow:row wrap}
#header .details span:first-child{margin-left:-.125em}
#header .details span.email a{color:rgba(0,0,0,.85)}
#header .details br{display:none}
#header .details br+span::before{content:"\00a0\2013\00a0"}
#header .details br+span.author::before{content:"\00a0\22c5\00a0";color:rgba(0,0,0,.85)}
#header .details br+span#revremark::before{content:"\00a0|\00a0"}
#header #revnumber{text-transform:capitalize}
#header #revnumber::after{content:"\00a0"}
#content>h1:first-child:not([class]){color:rgba(0,0,0,.85);border-bottom:1px solid #dddddf;padding-bottom:8px;margin-top:0;padding-top:1rem;margin-bottom:1.25rem}
#toc{border-bottom:1px solid #e7e7e9;padding-bottom:.5em}
#toc>ul{margin-left:.125em}
#toc ul.sectlevel0>li>a{font-style:italic}
#toc ul.sectlevel0 ul.sectlevel1{margin:.5em 0}
#toc ul{font-family:"Open Sans","DejaVu Sans",sans-serif;list-style-type:none}
#toc li{line-height:1.3334;margin-top:.3334em}
#toc a{text-decoration:none}
#toc a:active{text-decoration:underline}
#toctitle{color:#7a2518;font-size:1.2em}
@media screen and (min-width:768px){#toctitle{font-size:1.375em}
body.toc2{padding-left:15em;padding-right:0}
#toc.toc2{margin-top:0!important;background:#f8f8f7;position:fixed;width:15em;left:0;top:0;border-right:1px solid #e7e7e9;border-top-width:0!important;border-bottom-width:0!important;z-index:1000;padding:1.25em 1em;height:100%;overflow:auto}
#toc.toc2 #toctitle{margin-top:0;margin-bottom:.8rem;font-size:1.2em}
#toc.toc2>ul{font-size:.9em;margin-bottom:0}
#toc.toc2 ul ul{margin-left:0;padding-left:1em}
#toc.toc2 ul.sectlevel0 ul.sectlevel1{padding-left:0;margin-top:.5em;margin-bottom:.5em}
body.toc2.toc-right{padding-left:0;padding-right:15em}
body.toc2.toc-right #toc.toc2{border-right-width:0;border-left:1px solid #e7e7e9;left:auto;right:0}}
@media screen and (min-width:1280px){body.toc2{padding-left:20em;padding-right:0}
#toc.toc2{width:20em}
#toc.toc2 #toctitle{font-size:1.375em}
#toc.toc2>ul{font-size:.95em}
#toc.toc2 ul ul{padding-left:1.25em}
body.toc2.toc-right{padding-left:0;padding-right:20em}}
#content #toc{border:1px solid #e0e0dc;margin-bottom:1.25em;padding:1.25em;background:#f8f8f7;border-radius:4px}
#content #toc>:first-child{margin-top:0}
#content #toc>:last-child{margin-bottom:0}
#footer{max-width:none;background:rgba(0,0,0,.8);padding:1.25em}
#footer-text{color:hsla(0,0%,100%,.8);line-height:1.44}
#content{margin-bottom:.625em}
.sect1{padding-bottom:.625em}
@media screen and (min-width:768px){#content{margin-bottom:1.25em}
.sect1{padding-bottom:1.25em}}
.sect1:last-child{padding-bottom:0}
.sect1+.sect1{border-top:1px solid #e7e7e9}
#content h1>a.anchor,h2>a.anchor,h3>a.anchor,#toctitle>a.anchor,.sidebarblock>.content>.title>a.anchor,h4>a.anchor,h5>a.anchor,h6>a.anchor{position:absolute;z-index:1001;width:1.5ex;margin-left:-1.5ex;display:block;text-decoration:none!important;visibility:hidden;text-align:center;font-weight:400}
#content h1>a.anchor::before,h2>a.anchor::before,h3>a.anchor::before,#toctitle>a.anchor::before,.sidebarblock>.content>.title>a.anchor::before,h4>a.anchor::before,h5>a.anchor::before,h6>a.anchor::before{content:"\00A7";font-size:.85em;display:block;padding-top:.1em}
#content h1:hover>a.anchor,#content h1>a.anchor:hover,h2:hover>a.anchor,h2>a.anchor:hover,h3:hover>a.anchor,#toctitle:hover>a.anchor,.sidebarblock>.content>.title:hover>a.anchor,h3>a.anchor:hover,#toctitle>a.anchor:hover,.sidebarblock>.content>.title>a.anchor:hover,h4:hover>a.anchor,h4>a.anchor:hover,h5:hover>a.anchor,h5>a.anchor:hover,h6:hover>a.anchor,h6>a.anchor:hover{visibility:visible}
#content h1>a.link,h2>a.link,h3>a.link,#toctitle>a.link,.sidebarblock>.content>.title>a.link,h4>a.link,h5>a.link,h6>a.link{color:#ba3925;text-decoration:none}
#content h1>a.link:hover,h2>a.link:hover,h3>a.link:hover,#toctitle>a.link:hover,.sidebarblock>.content>.title>a.link:hover,h4>a.link:hover,h5>a.link:hover,h6>a.link:hover{color:#a53221}
details,.audioblock,.imageblock,.literalblock,.listingblock,.stemblock,.videoblock{margin-bottom:1.25em}
details{margin-left:1.25rem}
details>summary{cursor:pointer;display:block;position:relative;line-height:1.6;margin-bottom:.625rem;-webkit-tap-highlight-color:transparent}
details>summary::before{content:"";border:solid transparent;border-left:solid;border-width:.3em 0 .3em .5em;position:absolute;top:.5em;left:-1.25rem;transform:translateX(15%)}
details[open]>summary::before{border:solid transparent;border-top:solid;border-width:.5em .3em 0;transform:translateY(15%)}
details>summary::after{content:"";width:1.25rem;height:1em;position:absolute;top:.3em;left:-1.25rem}
.admonitionblock td.content>.title,.audioblock>.title,.exampleblock>.title,.imageblock>.title,.listingblock>.title,.literalblock>.title,.stemblock>.title,.openblock>.title,.paragraph>.title,.quoteblock>.title,table.tableblock>.title,.verseblock>.title,.videoblock>.title,.dlist>.title,.olist>.title,.ulist>.title,.qlist>.title,.hdlist>.title{text-rendering:optimizeLegibility;text-align:left;font-family:"Noto Serif","DejaVu Serif",serif;font-size:1rem;font-style:italic}
table.tableblock.fit-content>caption.title{white-space:nowrap;width:0}
.paragraph.lead>p,#preamble>.sectionbody>[class=paragraph]:first-of-type p{font-size:1.21875em;line-height:1.6;color:rgba(0,0,0,.85)}
.admonitionblock>table{border-collapse:separate;border:0;background:none;width:100%}
.admonitionblock>table td.icon{text-align:center;width:80px}
.admonitionblock>table td.icon img{max-width:none}
.admonitionblock>table td.icon .title{font-weight:bold;font-family:"Open Sans","DejaVu Sans",sans-serif;text-transform:uppercase}
.admonitionblock>table td.content{padding-left:1.125em;padding-right:1.25em;border-left:1px solid #dddddf;color:rgba(0,0,0,.6);word-wrap:anywhere}
.admonitionblock>table td.content>:last-child>:last-child{margin-bottom:0}
.exampleblock>.content{border:1px solid #e6e6e6;margin-bottom:1.25em;padding:1.25em;background:#fff;border-radius:4px}
.exampleblock>.content>:first-child{margin-top:0}
.exampleblock>.content>:last-child{margin-bottom:0}
.sidebarblock{border:1px solid #dbdbd6;margin-bottom:1.25em;padding:1.25em;background:#f3f3f2;border-radius:4px}
.sidebarblock>:first-child{margin-top:0}
.sidebarblock>:last-child{margin-bottom:0}
.sidebarblock>.content>.title{color:#7a2518;margin-top:0;text-align:center}
.exampleblock>.content>:last-child>:last-child,.exampleblock>.content .olist>ol>li:last-child>:last-child,.exampleblock>.content .ulist>ul>li:last-child>:last-child,.exampleblock>.content .qlist>ol>li:last-child>:last-child,.sidebarblock>.content>:last-child>:last-child,.sidebarblock>.content .olist>ol>li:last-child>:last-child,.sidebarblock>.content .ulist>ul>li:last-child>:last-child,.sidebarblock>.content .qlist>ol>li:last-child>:last-child{margin-bottom:0}
.literalblock pre,.listingblock>.content>pre{border-radius:4px;overflow-x:auto;padding:1em;font-size:.8125em}
@media screen and (min-width:768px){.literalblock pre,.listingblock>.content>pre{font-size:.90625em}}
@media screen and (min-width:1280px){.literalblock pre,.listingblock>.content>pre{font-size:1em}}
.literalblock pre,.listingblock>.content>pre:not(.highlight),.listingblock>.content>pre[class=highlight],.listingblock>.content>pre[class^="highlight "]{background:#f7f7f8}
.literalblock.output pre{color:#f7f7f8;background:rgba(0,0,0,.9)}
.listingblock>.content{position:relative}
.listingblock code[data-lang]::before{display:none;content:attr(data-lang);position:absolute;font-size:.75em;top:.425rem;right:.5rem;line-height:1;text-transform:uppercase;color:inherit;opacity:.5}
.listingblock:hover code[data-lang]::before{display:block}
.listingblock.terminal pre .command::before{content:attr(data-prompt);padding-right:.5em;color:inherit;opacity:.5}
.listingblock.terminal pre .command:not([data-prompt])::before{content:"$"}
.listingblock pre.highlightjs{padding:0}
.listingblock pre.highlightjs>code{padding:1em;border-radius:4px}
.listingblock pre.prettyprint{border-width:0}
.prettyprint{background:#f7f7f8}
pre.prettyprint .linenums{line-height:1.45;margin-left:2em}
pre.prettyprint li{background:none;list-style-type:inherit;padding-left:0}
pre.prettyprint li code[data-lang]::before{opacity:1}
pre.prettyprint li:not(:first-child) code[data-lang]::before{display:none}
table.linenotable{border-collapse:separate;border:0;margin-bottom:0;background:none}
table.linenotable td[class]{color:inherit;vertical-align:top;padding:0;line-height:inherit;white-space:normal}
table.linenotable td.code{padding-left:.75em}
table.linenotable td.linenos{border-right:1px solid;opacity:.35;padding-right:.5em}
pre.pygments .lineno{border-right:1px solid;opacity:.35;display:inline-block;margin-right:.75em}
pre.pygments .lineno::before{content:"";margin-right:-.125em}
.quoteblock{margin:0 1em 1.25em 1.5em;display:table}
.quoteblock:not(.excerpt)>.title{margin-left:-1.5em;margin-bottom:.75em}
.quoteblock blockquote,.quoteblock p{color:rgba(0,0,0,.85);font-size:1.15rem;line-height:1.75;word-spacing:.1em;letter-spacing:0;font-style:italic;text-align:justify}
.quoteblock blockquote{margin:0;padding:0;border:0}
.quoteblock blockquote::before{content:"\201c";float:left;font-size:2.75em;font-weight:bold;line-height:.6em;margin-left:-.6em;color:#7a2518;text-shadow:0 1px 2px rgba(0,0,0,.1)}
.quoteblock blockquote>.paragraph:last-child p{margin-bottom:0}
.quoteblock .attribution{margin-top:.75em;margin-right:.5ex;text-align:right}
.verseblock{margin:0 1em 1.25em}
.verseblock pre{font-family:"Open Sans","DejaVu Sans",sans-serif;font-size:1.15rem;color:rgba(0,0,0,.85);font-weight:300;text-rendering:optimizeLegibility}
.verseblock pre strong{font-weight:400}
.verseblock .attribution{margin-top:1.25rem;margin-left:.5ex}
.quoteblock .attribution,.verseblock .attribution{font-size:.9375em;line-height:1.45;font-style:italic}
.quoteblock .attribution br,.verseblock .attribution br{display:none}
.quoteblock .attribution cite,.verseblock .attribution cite{display:block;letter-spacing:-.025em;color:rgba(0,0,0,.6)}
.quoteblock.abstract blockquote::before,.quoteblock.excerpt blockquote::before,.quoteblock .quoteblock blockquote::before{display:none}
.quoteblock.abstract blockquote,.quoteblock.abstract p,.quoteblock.excerpt blockquote,.quoteblock.excerpt p,.quoteblock .quoteblock blockquote,.quoteblock .quoteblock p{line-height:1.6;word-spacing:0}
.quoteblock.abstract{margin:0 1em 1.25em;display:block}
.quoteblock.abstract>.title{margin:0 0 .375em;font-size:1.15em;text-align:center}
.quoteblock.excerpt>blockquote,.quoteblock .quoteblock{padding:0 0 .25em 1em;border-left:.25em solid #dddddf}
.quoteblock.excerpt,.quoteblock .quoteblock{margin-left:0}
.quoteblock.excerpt blockquote,.quoteblock.excerpt p,.quoteblock .quoteblock blockquote,.quoteblock .quoteblock p{color:inherit;font-size:1.0625rem}
.quoteblock.excerpt .attribution,.quoteblock .quoteblock .attribution{color:inherit;font-size:.85rem;text-align:left;margin-right:0}
p.tableblock:last-child{margin-bottom:0}
td.tableblock>.content{margin-bottom:1.25em;word-wrap:anywhere}
td.tableblock>.content>:last-child{margin-bottom:-1.25em}
table.tableblock,th.tableblock,td.tableblock{border:0 solid #dedede}
table.grid-all>*>tr>*{border-width:1px}
table.grid-cols>*>tr>*{border-width:0 1px}
table.grid-rows>*>tr>*{border-width:1px 0}
table.frame-all{border-width:1px}
table.frame-ends{border-width:1px 0}
table.frame-sides{border-width:0 1px}
table.frame-none>colgroup+*>:first-child>*,table.frame-sides>colgroup+*>:first-child>*{border-top-width:0}
table.frame-none>:last-child>:last-child>*,table.frame-sides>:last-child>:last-child>*{border-bottom-width:0}
table.frame-none>*>tr>:first-child,table.frame-ends>*>tr>:first-child{border-left-width:0}
table.frame-none>*>tr>:last-child,table.frame-ends>*>tr>:last-child{border-right-width:0}
table.stripes-all tr,table.stripes-odd tr:nth-of-type(odd),table.stripes-even tr:nth-of-type(even),table.stripes-hover tr:hover{background:#f8f8f7}
th.halign-left,td.halign-left{text-align:left}
th.halign-right,td.halign-right{text-align:right}
th.halign-center,td.halign-center{text-align:center}
th.valign-top,td.valign-top{vertical-align:top}
th.valign-bottom,td.valign-bottom{vertical-align:bottom}
th.valign-middle,td.valign-middle{vertical-align:middle}
table thead th,table tfoot th{font-weight:bold}
tbody tr th{background:#f7f8f7}
tbody tr th,tbody tr th p,tfoot tr th,tfoot tr th p{color:rgba(0,0,0,.8);font-weight:bold}
p.tableblock>code:only-child{background:none;padding:0}
p.tableblock{font-size:1em}
ol{margin-left:1.75em}
ul li ol{margin-left:1.5em}
dl dd{margin-left:1.125em}
dl dd:last-child,dl dd:last-child>:last-child{margin-bottom:0}
ol>li p,ul>li p,ul dd,ol dd,.olist .olist,.ulist .ulist,.ulist .olist,.olist .ulist{margin-bottom:.625em}
ul.checklist,ul.none,ol.none,ul.no-bullet,ol.no-bullet,ol.unnumbered,ul.unstyled,ol.unstyled{list-style-type:none}
ul.no-bullet,ol.no-bullet,ol.unnumbered{margin-left:.625em}
ul.unstyled,ol.unstyled{margin-left:0}
ul.checklist>li>p:first-child{margin-left:-1em}
ul.checklist>li>p:first-child>.fa-square-o:first-child,ul.checklist>li>p:first-child>.fa-check-square-o:first-child{width:1.25em;font-size:.8em;position:relative;bottom:.125em}
ul.checklist>li>p:first-child>input[type=checkbox]:first-child{margin-right:.25em}
ul.inline{display:flex;flex-flow:row wrap;list-style:none;margin:0 0 .625em -1.25em}
ul.inline>li{margin-left:1.25em}
.unstyled dl dt{font-weight:400;font-style:normal}
ol.arabic{list-style-type:decimal}
ol.decimal{list-style-type:decimal-leading-zero}
ol.loweralpha{list-style-type:lower-alpha}
ol.upperalpha{list-style-type:upper-alpha}
ol.lowerroman{list-style-type:lower-roman}
ol.upperroman{list-style-type:upper-roman}
ol.lowergreek{list-style-type:lower-greek}
.hdlist>table,.colist>table{border:0;background:none}
.hdlist>table>tbody>tr,.colist>table>tbody>tr{background:none}
td.hdlist1,td.hdlist2{vertical-align:top;padding:0 .625em}
td.hdlist1{font-weight:bold;padding-bottom:1.25em}
td.hdlist2{word-wrap:anywhere}
.literalblock+.colist,.listingblock+.colist{margin-top:-.5em}
.colist td:not([class]):first-child{padding:.4em .75em 0;line-height:1;vertical-align:top}
.colist td:not([class]):first-child img{max-width:none}
.colist td:not([class]):last-child{padding:.25em 0}
.thumb,.th{line-height:0;display:inline-block;border:4px solid #fff;box-shadow:0 0 0 1px #ddd}
.imageblock.left{margin:.25em .625em 1.25em 0}
.imageblock.right{margin:.25em 0 1.25em .625em}
.imageblock>.title{margin-bottom:0}
.imageblock.thumb,.imageblock.th{border-width:6px}
.imageblock.thumb>.title,.imageblock.th>.title{padding:0 .125em}
.image.left,.image.right{margin-top:.25em;margin-bottom:.25em;display:inline-block;line-height:0}
.image.left{margin-right:.625em}
.image.right{margin-left:.625em}
a.image{text-decoration:none;display:inline-block}
a.image object{pointer-events:none}
sup.footnote,sup.footnoteref{font-size:.875em;position:static;vertical-align:super}
sup.footnote a,sup.footnoteref a{text-decoration:none}
sup.footnote a:active,sup.footnoteref a:active{text-decoration:underline}
#footnotes{padding-top:.75em;padding-bottom:.75em;margin-bottom:.625em}
#footnotes hr{width:20%;min-width:6.25em;margin:-.25em 0 .75em;border-width:1px 0 0}
#footnotes .footnote{padding:0 .375em 0 .225em;line-height:1.3334;font-size:.875em;margin-left:1.2em;margin-bottom:.2em}
#footnotes .footnote a:first-of-type{font-weight:bold;text-decoration:none;margin-left:-1.05em}
#footnotes .footnote:last-of-type{margin-bottom:0}
#content #footnotes{margin-top:-.625em;margin-bottom:0;padding:.75em 0}
.gist .file-data>table{border:0;background:#fff;width:100%;margin-bottom:0}
.gist .file-data>table td.line-data{width:99%}
div.unbreakable{page-break-inside:avoid}
.big{font-size:larger}
.small{font-size:smaller}
.underline{text-decoration:underline}
.overline{text-decoration:overline}
.line-through{text-decoration:line-through}
.aqua{color:#00bfbf}
.aqua-background{background:#00fafa}
.black{color:#000}
.black-background{background:#000}
.blue{color:#0000bf}
.blue-background{background:#0000fa}
.fuchsia{color:#bf00bf}
.fuchsia-background{background:#fa00fa}
.gray{color:#606060}
.gray-background{background:#7d7d7d}
.green{color:#006000}
.green-background{background:#007d00}
.lime{color:#00bf00}
.lime-background{background:#00fa00}
.maroon{color:#600000}
.maroon-background{background:#7d0000}
.navy{color:#000060}
.navy-background{background:#00007d}
.olive{color:#606000}
.olive-background{background:#7d7d00}
.purple{color:#600060}
.purple-background{background:#7d007d}
.red{color:#bf0000}
.red-background{background:#fa0000}
.silver{color:#909090}
.silver-background{background:#bcbcbc}
.teal{color:#006060}
.teal-background{background:#007d7d}
.white{color:#bfbfbf}
.white-background{background:#fafafa}
.yellow{color:#bfbf00}
.yellow-background{background:#fafa00}
span.icon>.fa{cursor:default}
a span.icon>.fa{cursor:inherit}
.admonitionblock td.icon [class^="fa icon-"]{font-size:2.5em;text-shadow:1px 1px 2px rgba(0,0,0,.5);cursor:default}
.admonitionblock td.icon .icon-note::before{content:"\f05a";color:#19407c}
.admonitionblock td.icon .icon-tip::before{content:"\f0eb";text-shadow:1px 1px 2px rgba(155,155,0,.8);color:#111}
.admonitionblock td.icon .icon-warning::before{content:"\f071";color:#bf6900}
.admonitionblock td.icon .icon-caution::before{content:"\f06d";color:#bf3400}
.admonitionblock td.icon .icon-important::before{content:"\f06a";color:#bf0000}
.conum[data-value]{display:inline-block;color:#fff!important;background:rgba(0,0,0,.8);border-radius:50%;text-align:center;font-size:.75em;width:1.67em;height:1.67em;line-height:1.67em;font-family:"Open Sans","DejaVu Sans",sans-serif;font-style:normal;font-weight:bold}
.conum[data-value] *{color:#fff!important}
.conum[data-value]+b{display:none}
.conum[data-value]::after{content:attr(data-value)}
pre .conum[data-value]{position:relative;top:-.125em}
b.conum *{color:inherit!important}
.conum:not([data-value]):empty{display:none}
dt,th.tableblock,td.content,div.footnote{text-rendering:optimizeLegibility}
h1,h2,p,td.content,span.alt,summary{letter-spacing:-.01em}
p strong,td.content strong,div.footnote strong{letter-spacing:-.005em}
p,blockquote,dt,td.content,span.alt,summary{font-size:1.0625rem}
p{margin-bottom:1.25rem}
.sidebarblock p,.sidebarblock dt,.sidebarblock td.content,p.tableblock{font-size:1em}
.exampleblock>.content{background:#fffef7;border-color:#e0e0dc;box-shadow:0 1px 4px #e0e0dc}
.print-only{display:none!important}
@page{margin:1.25cm .75cm}
@media print{*{box-shadow:none!important;text-shadow:none!important}
html{font-size:80%}
a{color:inherit!important;text-decoration:underline!important}
a.bare,a[href^="#"],a[href^="mailto:"]{text-decoration:none!important}
a[href^="http:"]:not(.bare)::after,a[href^="https:"]:not(.bare)::after{content:"(" attr(href) ")";display:inline-block;font-size:.875em;padding-left:.25em}
abbr[title]{border-bottom:1px dotted}
abbr[title]::after{content:" (" attr(title) ")"}
pre,blockquote,tr,img,object,svg{page-break-inside:avoid}
thead{display:table-header-group}
svg{max-width:100%}
p,blockquote,dt,td.content{font-size:1em;orphans:3;widows:3}
h2,h3,#toctitle,.sidebarblock>.content>.title{page-break-after:avoid}
#header,#content,#footnotes,#footer{max-width:none}
#toc,.sidebarblock,.exampleblock>.content{background:none!important}
#toc{border-bottom:1px solid #dddddf!important;padding-bottom:0!important}
body.book #header{text-align:center}
body.book #header>h1:first-child{border:0!important;margin:2.5em 0 1em}
body.book #header .details{border:0!important;display:block;padding:0!important}
body.book #header .details span:first-child{margin-left:0!important}
body.book #header .details br{display:block}
body.book #header .details br+span::before{content:none!important}
body.book #toc{border:0!important;text-align:left!important;padding:0!important;margin:0!important}
body.book #toc,body.book #preamble,body.book h1.sect0,body.book .sect1>h2{page-break-before:always}
.listingblock code[data-lang]::before{display:block}
#footer{padding:0 .9375em}
.hide-on-print{display:none!important}
.print-only{display:block!important}
.hide-for-print{display:none!important}
.show-for-print{display:inherit!important}}
@media amzn-kf8,print{#header>h1:first-child{margin-top:1.25rem}
.sect1{padding:0!important}
.sect1+.sect1{border:0}
#footer{background:none}
#footer-text{color:rgba(0,0,0,.6);font-size:.9em}}
@media amzn-kf8{#header,#content,#footnotes,#footer{padding:0}}
</style>
</head>
<body class="article toc2 toc-left">
<div id="header">
<h1>RoboCupJunior Soccer Simulation Demo Competition 2022</h1>
<div class="details">
<span id="author" class="author">2022-01-22</span><br>
</div>
<div id="toc" class="toc2">
<div id="toctitle">Table of Contents</div>
<ul class="sectlevel1">
<li><a href="#gameplay">1. GAMEPLAY</a>
<ul class="sectlevel2">
<li><a href="#game-procedure-and-length-of-a-game">1.1. Game Procedure and Length of a Game</a></li>
<li><a href="#pre-match-programming">1.2. Pre-Match Programming</a></li>
<li><a href="#pre-match-meeting">1.3. Pre-Match Meeting</a></li>
<li><a href="#kick-off">1.4. Kick-Off</a></li>
<li><a href="#human-interference">1.5. Human Interference</a></li>
<li><a href="#ball-movement">1.6. Ball Movement</a></li>
<li><a href="#scoring">1.7. Scoring</a></li>
<li><a href="#inside-penalty-area">1.8. Inside the Penalty Area</a></li>
<li><a href="#lack-of-progress">1.9. Lack of Progress</a></li>
<li><a href="#out-of-bounds">1.10. Out of Bounds</a></li>
<li><a href="#damaged-robots">1.11. Damaged Robots</a></li>
<li><a href="#interruption-of-game-ref-interruption">1.12. Interruption of Game</a></li>
</ul>
</li>
<li><a href="#team">2. TEAM</a>
<ul class="sectlevel2">
<li><a href="#team-regulations">2.1. Regulations</a></li>
<li><a href="#team-violations">2.2. Violations</a></li>
</ul>
</li>
<li><a href="#robots">3. ROBOTS</a>
<ul class="sectlevel2">
<li><a href="#number-of-robots-substitution">3.1. Number of Robots / Substitution</a></li>
<li><a href="#robots-control">3.2. Robot Control</a></li>
<li><a href="#robots-interference">3.3. Interference</a></li>
<li><a href="#communication">3.4. Communication</a></li>
<li><a href="#agility">3.5. Agility</a></li>
</ul>
</li>
<li><a href="#field">4. FIELD</a>
<ul class="sectlevel2">
<li><a href="#neutral-spots">4.1. Neutral Spots</a></li>
</ul>
</li>
<li><a href="#code-of-conduct">5. CODE OF CONDUCT</a>
<ul class="sectlevel2">
<li><a href="#fair-play">5.1. Fair Play</a></li>
<li><a href="#behavior">5.2. Behavior</a></li>
<li><a href="#help">5.3. Help</a></li>
<li><a href="#sharing">5.4. Sharing</a></li>
<li><a href="#spirit">5.5. Spirit</a></li>
<li><a href="#violations-disqualification">5.6. Violations / Disqualification</a></li>
</ul>
</li>
<li><a href="#conflict-resolution">6. CONFLICT RESOLUTION</a>
<ul class="sectlevel2">
<li><a href="#referee-and-referee-assistant">6.1. Artificial Referee</a></li>
<li><a href="#rule-clarification">6.2. Rule Clarification</a></li>
<li><a href="#rule-modification">6.3. Rule Modification</a></li>
<li><a href="#regulatory-statutes">6.4. Regulatory Statutes</a></li>
</ul>
</li>
<li><a href="#international-competition">7. INTERNATIONAL COMPETITION</a>
<ul class="sectlevel2">
<li><a href="#international-competition-team">7.1. Team</a></li>
<li><a href="#interviews">7.2. Interviews</a></li>
<li><a href="#poster-sessions">7.3. Poster Sessions</a></li>
<li><a href="#technical-challenges">7.4. Technical Challenges</a></li>
</ul>
</li>
</ul>
</div>
</div>
<div id="content">
<div id="preamble">
<div class="sectionbody">
<link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.3.1/css/all.css" integrity="sha384-mzrmE5qonljUremFsqc01SB46JvROS7bZs3IO2EmfFsd15uHvIt+Y8vEf7N7fWAU" crossorigin="anonymous">
<script src="https://hypothes.is/embed.js" async></script>
<div class="paragraph">
<p>These are the official rules for the <strong>RoboCupJunior Soccer Simulation Demo Competition 2022</strong>.
They are released by the RoboCupJunior Soccer Technical Committee (TC).
The English version of these rules has priority over any translations.</p>
</div>
<div class="paragraph">
<p>Teams are advised to check the RoboCupJunior Soccer site
<a href="https://junior.forum.robocup.org/" class="bare">https://junior.forum.robocup.org/</a> for OC (Organizational Committee) procedures
and requirements for the international competition. Each team is responsible
for verifying the latest version of the rules prior to competition.
<sup class="footnote">[<a id="_footnoteref_1" class="footnote" href="#_footnotedef_1" title="View footnote.">1</a>]</sup></p>
</div>
<div class="paragraph">
<p>Instructions on the Webots environment, on how to program controllers, as well as demos
and tutorials can be found online at <a href="https://robocupjuniortc.github.io/rcj-soccer-sim/" class="bare">https://robocupjuniortc.github.io/rcj-soccer-sim/</a>.</p>
</div>
<div class="imageblock">
<div class="content">
<img src="media/soccer_sim.png" alt="soccer sim" width="350">
</div>
<div class="title">Figure 1. Two teams of three robots in a simulated RoboCupJunior Soccer match.</div>
</div>
<div class="admonitionblock note">
<table>
<tr>
<td class="icon">
<i class="fa icon-note" title="Note"></i>
</td>
<td class="content">
This set of rules is to be used for the RCJ Soccer Simulation Demo Competition 2022 only.
It may differ from the actual set of rules for later competitions throughout this year.
</td>
</tr>
</table>
</div>
<div class="admonitionblock note">
<table>
<tr>
<td class="icon">
<i class="fa icon-note" title="Note"></i>
</td>
<td class="content">
The Webots world has changed since the last Simulation Challenge in 2021.
Please make sure to pull the latest release of the Webots world from
<a href="https://github.com/RoboCupJuniorTC/rcj-soccer-sim" class="bare">https://github.com/RoboCupJuniorTC/rcj-soccer-sim</a>
</td>
</tr>
</table>
</div>
<h2 id="_preface" class="discrete">Preface</h2>
<div class="paragraph">
<p>In the RoboCupJunior Soccer Simulation challenge, teams of young engineers program
three fully autonomous digital robots to compete against another team
in simulated matches. The robots must detect a ball and score into a color-coded
goal on a special field that resembles a human soccer field.</p>
</div>
<div class="paragraph">
<p>To be successful, participants must demonstrate special programming skills.
Teams are also expected to contribute to the advancement of the community as a
whole by sharing their discoveries with other participants and by engaging in good
sportsmanship, regardless of culture, age or result in the competition.
<strong>All are expected to compete, learn, have fun, and grow.</strong></p>
</div>
<div class="paragraph">
<p><em>The RoboCupJunior Soccer Simulation Challenge is a special addition to the existing
RoboCupJunior Soccer Leagues. There is no need to meet in person for the RoboCupJunior
Simulation Challenge. It was created primarily for the
2021 season. Even though there is no guarantee for continuing it into the future,
we as TC would like to see what else we can create from here.
Depending on the results and feedback from this demo competition, there might be
future RoboCupJunior Soccer Simulation challenges and leagues.</em></p>
</div>
<h3 id="_programming_has_to_be_performed_exclusively_by_the_students" class="discrete">Programming has to be performed exclusively by the students</h3>
<div class="paragraph">
<p>Robots must be programmed exclusively by student members of the team. Mentors,
teachers, parents or companies should not be involved in the
software design, programming or debugging of robots. To avoid
embarrassment and possible disqualification, it is extremely important that
teams abide by all other competition’s rules.</p>
</div>
<div class="paragraph">
<p>If in doubt, please consult with your Regional Representative before
registering your team.</p>
</div>
</div>
</div>
<div class="sect1">
<h2 id="gameplay"><a class="anchor" href="#gameplay"></a><a class="link" href="#gameplay">1. GAMEPLAY</a></h2>
<div class="sectionbody">
<div class="sect2">
<h3 id="game-procedure-and-length-of-a-game"><a class="anchor" href="#game-procedure-and-length-of-a-game"></a><a class="link" href="#game-procedure-and-length-of-a-game">1.1. Game Procedure and Length of a Game</a></h3>
<div class="paragraph">
<p>RCJ Soccer games consist of two teams of robots playing soccer against each
other. Each team has three autonomous robots. The game will consist of two
halves. The duration of each half is 10 minutes.</p>
</div>
<div class="paragraph">
<p>The game will be timed by an artificial referee program. The referee will make
all the decisions during the game automatically, including the placement of
the ball and of robots. There will be no discussion on decisions the artificial
referee took.</p>
</div>
</div>
<div class="sect2">
<h3 id="pre-match-programming"><a class="anchor" href="#pre-match-programming"></a><a class="link" href="#pre-match-programming">1.2. Pre-Match Programming</a></h3>
<div class="paragraph">
<p>Teams will send their code to the organization committee (OC) before the competition.
The matches will then be conducted by the OC, which will run the code of the teams
against each other. The matches will either be pre-recorded, or streamed live
via an online streaming service.</p>
</div>
</div>
<div class="sect2">
<h3 id="pre-match-meeting"><a class="anchor" href="#pre-match-meeting"></a><a class="link" href="#pre-match-meeting">1.3. Pre-Match Meeting</a></h3>
<div class="paragraph">
<p>At the start of the first half of the game, the artificial referee will choose the team
kicking off at random, as well as the goal they will kick towards. After the first half, teams switch sides.
The team not kicking off in the first half of the game will kick off to begin
the second half of the game.</p>
</div>
</div>
<div class="sect2">
<h3 id="kick-off"><a class="anchor" href="#kick-off"></a><a class="link" href="#kick-off">1.4. Kick-Off</a></h3>
<div class="paragraph">
<p>Each half of the game begins with a kick-off. All robots will be positioned by the artificial referee on
their own side of the field and halted. The ball is positioned
by the artificial referee in the center of the field. All robots on the team not
kicking off will be outside of the center circle.</p>
</div>
<div class="paragraph">
<p>On the artificial referee’s command, all robots will be started immediately.</p>
</div>
<div class="sect3">
<h4 id="neutral-kickoff"><a class="anchor" href="#neutral-kickoff"></a><a class="link" href="#neutral-kickoff">1.4.1. Neutral Kick-Off</a></h4>
<div class="paragraph">
<p>A neutral kick-off is the same as the one described in <a href="#kick-off">Rule 1.4, “Kick-Off”</a> with a
small change: all robots must be placed outside of the center circle.</p>
</div>
</div>
</div>
<div class="sect2">
<h3 id="human-interference"><a class="anchor" href="#human-interference"></a><a class="link" href="#human-interference">1.5. Human Interference</a></h3>
<div class="paragraph">
<p>Except for starting or stopping the simulation, human interference during the
simulated matches is not permitted, neither by teams nor by the OC.
All decisions and actions are taken by the robots' programs
and the artificial referee autonomously.</p>
</div>
</div>
<div class="sect2">
<h3 id="ball-movement"><a class="anchor" href="#ball-movement"></a><a class="link" href="#ball-movement">1.6. Ball Movement</a></h3>
<div class="paragraph">
<p>A robot cannot hold the ball.</p>
</div>
</div>
<div class="sect2">
<h3 id="scoring"><a class="anchor" href="#scoring"></a><a class="link" href="#scoring">1.7. Scoring</a></h3>
<div class="paragraph">
<p>The artificial referee will consider a goal as being scored as soon as the ball crosses the goal line.</p>
</div>
<div class="paragraph">
<p>Goals scored either by an attacking or defending robot have the same end
result: they give one goal to the team on the opposite side. After a goal, the
game will be restarted with a kick-off from the team who was scored against.</p>
</div>
</div>
<div class="sect2">
<h3 id="inside-penalty-area"><a class="anchor" href="#inside-penalty-area"></a><a class="link" href="#inside-penalty-area">1.8. Inside the Penalty Area</a></h3>
<div class="paragraph">
<p>No robots are supposed to be inside any penalty area for more than 15 seconds.
After this time, they will be re-spawned on the furthest unoccupied neutral spot
facing sideways. For this rule to apply, a robot must be inside the penalty area with its center
of mass.</p>
</div>
<div class="paragraph">
<p>For the timer to be reset, the robots must be outside the penalty area for
more than 2 seconds.</p>
</div>
</div>
<div class="sect2">
<h3 id="lack-of-progress"><a class="anchor" href="#lack-of-progress"></a><a class="link" href="#lack-of-progress">1.9. Lack of Progress</a></h3>
<div class="paragraph">
<p>Lack of progress occurs if there is no progress in the gameplay for a
reasonable period of time. Typical
lack of progress situations are when the ball is stuck between robots, when
there is no change in ball and robot’s positions, or when the ball is beyond
detection or reach capability of all robots on the field.</p>
</div>
<div class="paragraph">
<p>If no significant ball movement occurs for 10 seconds, the artificial referee will call "lack of progress" and
will move the ball to <a id="addition-1"></a>
<span class="red"><strong>a random unoccupied neutral spot.</strong></span> If this does not
solve the lack of progress, the referee can move the ball to a different
neutral spot.</p>
</div>
</div>
<div class="sect2">
<h3 id="out-of-bounds"><a class="anchor" href="#out-of-bounds"></a><a class="link" href="#out-of-bounds">1.10. Out of Bounds</a></h3>
<div class="paragraph">
<p>There is no "Out of Bounds" rule.</p>
</div>
<div id="addition-2" class="paragraph">
<p><span class="red"><strong>If the ball or any robot accidentally leaves the field of play, it will be returned into play immediately, and placed on the field according to the rules of <a href="#lack-of-progress">Rule 1.9, “Lack of Progress”</a>.</strong></span></p>
</div>
</div>
<div class="sect2">
<h3 id="damaged-robots"><a class="anchor" href="#damaged-robots"></a><a class="link" href="#damaged-robots">1.11. Damaged Robots</a></h3>
<div class="paragraph">
<p>Sometimes robots in the simulation will tip or fall over. In any case when
a robot does not move for 15 seconds, the artificial referee will re-spawn it
onto the nearest unoccupied neutral spot.</p>
</div>
<div class="paragraph">
<p>A robot that is respawned more than 3 times in a row according to this rule without moving
at all in-between is considered damaged and will be taken off the field. The
robot must remain off the field for one minute or until the next kick-off
is due. It will be placed on the free unoccupied neutral spot furthest from the ball,
facing sideways.</p>
</div>
</div>
<div class="sect2">
<h3 id="interruption-of-game-ref-interruption"><a class="anchor" href="#interruption-of-game-ref-interruption"></a><a class="link" href="#interruption-of-game-ref-interruption">1.12. Interruption of Game</a></h3>
<div class="paragraph">
<p>In principle, a game will not be stopped.</p>
</div>
</div>
</div>
</div>
<div class="sect1">
<h2 id="team"><a class="anchor" href="#team"></a><a class="link" href="#team">2. TEAM</a></h2>
<div class="sectionbody">
<div class="sect2">
<h3 id="team-regulations"><a class="anchor" href="#team-regulations"></a><a class="link" href="#team-regulations">2.1. Regulations</a></h3>
<div class="paragraph">
<p>A team must have two, three or four members to form a RoboCupJunior team to
participate in the International event. A team member(s) and/or program(s) cannot
be shared between teams.</p>
</div>
<div class="paragraph">
<p>Each team must have a <strong>captain</strong>. The captain is the person responsible
for communication with the OC. The team captain should be in a position
to answer all of the OC’s requests and questions. The team can replace its captain
during the competition.</p>
</div>
</div>
<div class="sect2">
<h3 id="team-violations"><a class="anchor" href="#team-violations"></a><a class="link" href="#team-violations">2.2. Violations</a></h3>
<div class="paragraph">
<p>Teams that do not abide by the rules are not allowed to participate.</p>
</div>
</div>
</div>
</div>
<div class="sect1">
<h2 id="robots"><a class="anchor" href="#robots"></a><a class="link" href="#robots">3. ROBOTS</a></h2>
<div class="sectionbody">
<div class="sect2">
<h3 id="number-of-robots-substitution"><a class="anchor" href="#number-of-robots-substitution"></a><a class="link" href="#number-of-robots-substitution">3.1. Number of Robots / Substitution</a></h3>
<div class="paragraph">
<p>Each team must have exactly three programs for the full tournament.
<sup class="footnote">[<a id="_footnoteref_2" class="footnote" href="#_footnotedef_2" title="View footnote.">2</a>]</sup>
The substitution of programs during the competition within the team or
with other teams is forbidden.</p>
</div>
</div>
<div class="sect2">
<h3 id="robots-control"><a class="anchor" href="#robots-control"></a><a class="link" href="#robots-control">3.2. Robot Control</a></h3>
<div class="paragraph">
<p>The Teams will write a controller program to move the robots during the simulation.
The simulated robots have two wheels to control its movement (one on each side - differential-drive).
The only aspect of the simulation that the program is allowed to act on is the speed of
the wheels of the robot that it is controlling. The program will be pre-written by
the teams and used for the whole competition. Substitution of the program during the
competition or during a match is not allowed.</p>
</div>
</div>
<div class="sect2">
<h3 id="robots-interference"><a class="anchor" href="#robots-interference"></a><a class="link" href="#robots-interference">3.3. Interference</a></h3>
<div class="paragraph">
<p>Teams are not allowed to interfere with the simulation in any unofficial way.
Teams may be penalized or disqualified by the OC for any attempt to influence or
work-around the artificicial referee, other team’s robots, or the
simulation world’s constraints.</p>
</div>
</div>
<div class="sect2">
<h3 id="communication"><a class="anchor" href="#communication"></a><a class="link" href="#communication">3.4. Communication</a></h3>
<div class="paragraph">
<p>Robots may communicate within each team in the scope of the simulation,
as long as they abide by rule <a href="#robots-interference">Rule 3.3, “Interference”</a>.</p>
</div>
<div class="paragraph">
<p>Robots may not communicate with anything outside of the simulation world.</p>
</div>
</div>
<div class="sect2">
<h3 id="agility"><a class="anchor" href="#agility"></a><a class="link" href="#agility">3.5. Agility</a></h3>
<div class="paragraph">
<p>The construction of the robots is pre-defined and part of the simulation
world. The robots will have a cubic form, two motorized wheels and no kicker.</p>
</div>
<div class="paragraph">
<p>Robots may be programmed with a controller script. They may turn in any direction, as
well as drive forward and backward anywhere on the field. There is a maximum speed defined
by the simulation. There is no mandatory behaviour required for the programs.</p>
</div>
</div>
</div>
</div>
<div class="sect1">
<h2 id="field"><a class="anchor" href="#field"></a><a class="link" href="#field">4. FIELD</a></h2>
<div class="sectionbody">
<div class="paragraph">
<p>The playing field will be provided by the OC as a digital Webots world, along with
a small tutorial on how to place and move the robots during the game, as well as
measure the robot and ball positions.</p>
</div>
<div id="addition-3" class="paragraph">
<p><span class="red"><strong>Note that the Webots world has changed since the last Simulation Challenge in 2021. Please make sure to pull the latest release of the Webots world.</strong></span></p>
</div>
<div class="imageblock">
<div class="content">
<img src="media/soccer_sim_field.png" alt="image" height="125">
</div>
<div class="title">Figure 2. An empty field with its reference frame in the center: X (red) and Y (blue).</div>
</div>
<div class="sect2">
<h3 id="neutral-spots"><a class="anchor" href="#neutral-spots"></a><a class="link" href="#neutral-spots">4.1. Neutral Spots</a></h3>
<div class="paragraph">
<p>There are 7 neutral spots. They are defined in simulation units as follows:</p>
</div>
<table class="tableblock frame-all grid-all stretch">
<colgroup>
<col style="width: 25%;">
<col style="width: 25%;">
<col style="width: 25%;">
<col style="width: 25%;">
</colgroup>
<thead>
<tr>
<th class="tableblock halign-left valign-top"><strong>Nr.</strong></th>
<th class="tableblock halign-left valign-top"><strong>Name</strong></th>
<th class="tableblock halign-left valign-top"><strong>X-Coordinate</strong></th>
<th class="tableblock halign-left valign-top"><strong>Y-Coordinate</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">1</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Central Point</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">2</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Blue Side</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">3</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Blue Side</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.3</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.3</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">4</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Blue Side</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">-0.3</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.3</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">5</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Yellow Side</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">-0.2</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">6</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Yellow Side</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.3</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">-0.3</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">7</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Yellow Side</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">-0.3</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">-0.3</p></td>
</tr>
</tbody>
</table>
<div id="addition-4" class="paragraph">
<p><span class="red"><strong>Note that the coordinates have changed since the last Simulation Challenge in 2021. Please make sure to pull the latest release of the Webots world..</strong></span></p>
</div>
<div class="imageblock">
<div class="content">
<img src="media/soccer_sim_field_neutral.png" alt="image" height="200">
</div>
<div class="title">Figure 3. The ball and the 6 robots on the 7 neutral spots as defined in <a href="#neutral-spots">Rule 4.1, “Neutral Spots”</a></div>
</div>
</div>
</div>
</div>
<div class="sect1">
<h2 id="code-of-conduct"><a class="anchor" href="#code-of-conduct"></a><a class="link" href="#code-of-conduct">5. CODE OF CONDUCT</a></h2>
<div class="sectionbody">
<div class="sect2">
<h3 id="fair-play"><a class="anchor" href="#fair-play"></a><a class="link" href="#fair-play">5.1. Fair Play</a></h3>
<div class="paragraph">
<p>It is expected that the aim of all teams is to play a fair and clean game of
robot soccer.</p>
</div>
<div class="paragraph">
<p>Programs are not allowed to cause interference with other
robots or the referee during normal game play.</p>
</div>
<div class="paragraph">
<p>Programs are not allowed to cause interference to the field or to the ball during
normal game play.</p>
</div>
</div>
<div class="sect2">
<h3 id="behavior"><a class="anchor" href="#behavior"></a><a class="link" href="#behavior">5.2. Behavior</a></h3>
<div class="paragraph">
<p>All participants are expected to behave themselves. All behavior
is to be of a subdued nature within the tournament.</p>
</div>
</div>
<div class="sect2">
<h3 id="help"><a class="anchor" href="#help"></a><a class="link" href="#help">5.3. Help</a></h3>
<div class="paragraph">
<p>Mentors (teachers, parents, chaperones, and other adult team-members including
translators) are not allowed to work on the teams' programs.</p>
</div>
<div class="paragraph">
<p><strong>Mentors must not touch, build or program any programs.</strong></p>
</div>
</div>
<div class="sect2">
<h3 id="sharing"><a class="anchor" href="#sharing"></a><a class="link" href="#sharing">5.4. Sharing</a></h3>
<div class="paragraph">
<p>The understanding that any technological and curricular developments should be
shared among the RoboCup and RoboCupJunior participants after the tournament
has been a part of world RoboCup competitions.</p>
</div>
<div class="paragraph">
<p>All the code must be shared with other participants and made open-source after
the tournament.</p>
</div>
<div class="paragraph">
<p>Also, if you find any bugs within the simulation world or the
artificial referee (except for the Webots logo), please let us know.</p>
</div>
</div>
<div class="sect2">
<h3 id="spirit"><a class="anchor" href="#spirit"></a><a class="link" href="#spirit">5.5. Spirit</a></h3>
<div class="paragraph">
<p>It is expected that all participants, students, mentors, and parents will
respect the RoboCupJunior mission.</p>
</div>
<div class="paragraph">
<p><strong><em>It is not whether you win or lose, but how much you learn that counts!</em></strong></p>
</div>
</div>
<div class="sect2">
<h3 id="violations-disqualification"><a class="anchor" href="#violations-disqualification"></a><a class="link" href="#violations-disqualification">5.6. Violations / Disqualification</a></h3>
<div class="paragraph">
<p>Teams that violate the code of conduct can be disqualified from the tournament.
It is also possible to disqualify only single person or single program from
further participation in the tournament.</p>
</div>
<div class="paragraph">
<p>In less severe cases of violations of the code of conduct, a team will be given
a warning (a yellow card). In severe or repeated cases of
violations of the code of conduct a team can be disqualified immediately
without a warning by a red card.</p>
</div>
</div>
</div>
</div>
<div class="sect1">