├── .circleci └── config.yml ├── .gitignore ├── LICENSE ├── README.md ├── chapters ├── appendix.adoc ├── ballleavesthefield.adoc ├── challengeflag.adoc ├── emergencystop.adoc ├── gamestructure.adoc ├── introduction.adoc ├── offenses.adoc ├── playingenvironment.adoc ├── refereecommands.adoc ├── robots.adoc ├── rulechanges.adoc ├── scoringgoals.adoc ├── shootout.adoc └── substitution.adoc ├── diffRules.py ├── images ├── SSL_Game_Events.graphml ├── double-size-field.svg ├── goal_detail_divisionA.svg ├── goal_detail_divisionB.svg ├── quad-size-field.svg ├── standard_colors2010.svg └── standard_pattern2010.png ├── pages ├── 2019 │ ├── sslrules.html │ └── sslrules.pdf ├── 2020 │ ├── sslrules-diff.html │ ├── sslrules.html │ └── sslrules.pdf ├── 2021 │ ├── sslrules-diff.html │ ├── sslrules.html │ └── sslrules.pdf ├── 2022 │ ├── sslrules-diff.html │ ├── sslrules.html │ └── sslrules.pdf ├── 2023 │ ├── sslrules-diff.html │ ├── sslrules.html │ └── sslrules.pdf ├── 2024 │ ├── sslrules-diff.html │ ├── sslrules.html │ └── sslrules.pdf └── index.html └── sslrules.adoc /.circleci/config.yml: -------------------------------------------------------------------------------- 1 | version: 2.1 2 | 3 | jobs: 4 | build: 5 | machine: 6 | image: ubuntu-2204:current 7 | steps: 8 | - checkout 9 | - run: | 10 | docker run -v $(pwd):/documents/ -u $(id -u) asciidoctor/docker-asciidoctor asciidoctor -r asciidoctor-diagram -a data-uri *.adoc 11 | docker run -v $(pwd):/documents/ -u $(id -u) asciidoctor/docker-asciidoctor asciidoctor-pdf -r asciidoctor-diagram *.adoc 12 | build_publish: 13 | machine: 14 | image: ubuntu-2204:current 15 | steps: 16 | - add_ssh_keys: 17 | fingerprints: 18 | - "SHA256:qDk4RVZw4RPDgi01xxEo11tKG72jbNJKWn9ZJbOt3gU" 19 | - checkout 20 | - run: | 21 | docker run -v $(pwd):/documents/ -u $(id -u) asciidoctor/docker-asciidoctor asciidoctor -r asciidoctor-diagram -a data-uri *.adoc 22 | docker run -v $(pwd):/documents/ -u $(id -u) asciidoctor/docker-asciidoctor asciidoctor-pdf -r asciidoctor-diagram *.adoc 23 | - run: | 24 | pip install htmldiffer 25 | latest_year="$(ls -1 pages | grep -E '^[0-9]{4}$' | sort -n | tail -n1)" 26 | python ./diffRules.py ./pages/${latest_year}/sslrules.html ./sslrules.html > sslrules-diff.html 27 | - run: | 28 | mkdir /tmp/out 29 | mv ./*.html ./*.pdf /tmp/out/ 30 | cp -r ./pages/* /tmp/out/ 31 | git checkout gh-pages 32 | rm -rf * .asciidoctor 33 | mv /tmp/out/* . 34 | git config user.name "CircleCI" 35 | git config user.email "build-pipeline@circleci.com" 36 | git add . 37 | git commit -m "Update GitHub Pages" 38 | git push 39 | 40 | workflows: 41 | version: 2 42 | docker: 43 | jobs: 44 | - build: 45 | filters: { branches: { ignore: master } } 46 | - build_publish: 47 | filters: { branches: { only: master } } 48 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # IntelliJ files 2 | /.idea 3 | /sslrules.html 4 | /sslrules.pdf 5 | /.asciidoctor 6 | /images/game-states.svg 7 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # RoboCup Small Size League rules 2 | 3 | This is the AsciiDoc source for the official RoboCup Small Size League rules. 4 | The legacy version of the rules can be found at https://github.com/RoboCup-SSL/ssl-rules-legacy 5 | 6 | ## Build 7 | The rules are automatically built on updates to the master branch and published to [Github Pages](https://robocup-ssl.github.io/ssl-rules/sslrules.html). There is also a [PDF-version](https://robocup-ssl.github.io/ssl-rules/sslrules.pdf). 8 | 9 | ### Using AsciiDoctor natively 10 | Install AsciiDoctor on your system (https://asciidoctor.org/). Afterwards, build HTML5 version with 11 | ``` 12 | # Build the HTML5 version 13 | asciidoctor sslrules.adoc 14 | # Build the PDF version 15 | asciidoctor-pdf sslrules.adoc 16 | ``` 17 | 18 | ### Using docker image 19 | If you have Docker installed, you can use the official AsciiDoctor image: 20 | ``` 21 | # Pull image once 22 | docker pull asciidoctor/docker-asciidoctor 23 | # Build the HTML5 version 24 | docker run -v $PWD:/documents/ asciidoctor/docker-asciidoctor asciidoctor -r asciidoctor-diagram sslrules.adoc 25 | # Build the PDF version 26 | docker run -v $PWD:/documents/ asciidoctor/docker-asciidoctor asciidoctor-pdf -r asciidoctor-diagram sslrules.adoc 27 | ``` 28 | -------------------------------------------------------------------------------- /chapters/appendix.adoc: -------------------------------------------------------------------------------- 1 | [appendix] 2 | == Terminology 3 | === Ball Manipulation 4 | Shooting and <> is considered as manipulating the ball, the ball accidentally bouncing off the hull is not. 5 | 6 | [appendix] 7 | == Game States 8 | 9 | [plantuml, target=game-states, format=svg] 10 | .... 11 | @startuml 12 | state Halted { 13 | state Halt { 14 | } 15 | state Timeout { 16 | } 17 | } 18 | 19 | state Stopped { 20 | state Stop { 21 | } 22 | state BallPlacement { 23 | } 24 | state PrepareKickoff { 25 | } 26 | state PreparePenalty { 27 | } 28 | } 29 | 30 | state Running { 31 | state Run { 32 | } 33 | state FreeKick { 34 | } 35 | state Kickoff { 36 | } 37 | state Penalty { 38 | } 39 | } 40 | 41 | Halt: Robots are not allowed to move 42 | Timeout: Both teams can do what ever they want 43 | Stop: Both teams have to keep distance to the ball 44 | PrepareKickoff: Teams have to move to their sides 45 | BallPlacement: One team places the ball,\nthe other keeps distance to ball 46 | PreparePenalty: Keeper on goal line,\nattacker behind ball,\nother robots on legal positions 47 | Kickoff: One team may kick the ball\nwithin 5 (A) or 10 (B) seconds 48 | FreeKick: One team may kick the ball\nwithin 5 (A) or 10 (B) seconds 49 | Penalty: Execute a penalty kick within 10 seconds 50 | Run: Both teams may manipulate the ball 51 | 52 | [*] -> Halt: (from any state) Halt 53 | 54 | Halt --> Stop: Stop 55 | Stop --> Timeout: Timeout 56 | Timeout --> Stop: Stop 57 | 58 | Stop --> BallPlacement: Ball Placement 59 | BallPlacement --> Stop: Stop 60 | BallPlacement --> FreeKick: Continue 61 | 62 | Stop --> PrepareKickoff: PrepareKickoff 63 | PrepareKickoff --> Kickoff: NormalStart 64 | Kickoff --> Run: after x seconds or if ball moved 65 | 66 | Stop --> FreeKick: FreeKick 67 | FreeKick --> Run: after x seconds or if ball moved 68 | 69 | Stop --> Run: ForceStart 70 | 71 | Stop --> PreparePenalty: PreparePenalty 72 | PreparePenalty --> Penalty: NormalStart 73 | Penalty --> Stop: after 10 seconds 74 | 75 | Run --> Stop: Stop 76 | @enduml 77 | .... 78 | 79 | [appendix] 80 | == Game Events 81 | The following game event table is a compilation of the different game events and their consequences. It also lists what all <> implementations must be capable of handling. 82 | 83 | NOTE: The information shown in this table here may be incomplete. Please read the sections of the respective events for the full definitions. 84 | 85 | [cols="0,1,1,1,1,1"] 86 | |=== 87 | || Event | Applicability | Consequence | Increments Foul Counter | Initiated By 88 | 89 | 6+| *While Match is Running* 90 | || <> | <> | <> -> <> | no | game controller 91 | || <> | <> | <> -> <> | no | auto referee 92 | 93 | | 5+| *Ball Leaving the Field* 94 | || <> | <> | <> | no | auto referee 95 | || <> | <> | <> -> <> | no | auto referee 96 | || <> | <> | <> -> <> | no | auto referee 97 | || <> | <> | <> -> <> | no | auto referee 98 | 99 | | 5+| *Fouls* 100 | || <> | <> | <> -> <> | no | auto referee 101 | || <> | <> | <> -> <> | yes | game controller 102 | || <> | <> | <> -> <> | yes | auto referee 103 | || <> | <> | <> -> <> | yes | auto referee 104 | || <> | <> | - | yes | auto referee 105 | || <> | <> | - | yes | auto referee 106 | 107 | | 5+| *Penalty Kick* 108 | || <> | during <> | <> -> <> | no | auto referee, game controller 109 | 110 | 6+| *Always* 111 | || <> | always | - | yes | auto referee 112 | || <> | always | - | yes | auto referee 113 | 114 | 6+| *During Free Kick and While Match is Stop* 115 | || <> | during <> and <> | <> -> <> | yes | auto referee 116 | 117 | 6+| *While Match is Stopped* 118 | 119 | | 5+| *Fouls* 120 | || <> | during <> | - | yes | auto referee 121 | || <> | <> | timer for bringing the ball into play is reset | yes | auto referee 122 | 123 | | 5+| *Ball Placement* 124 | || <> | during <> | placement timer increased by 10 seconds | yes | auto referee 125 | || <> | during <> | continue | no | auto referee 126 | || <> by team in favor | during <> | <> -> <> (div A) / previous command (div B) | no | game controller 127 | || <> by opponent | during <> | <> | no | game controller 128 | 129 | 6+| *Informational* 130 | || <> | - | <> | no | game controller 131 | || <> | - | <> | no | game controller 132 | || <> | - | <> | no | game controller 133 | || <> | - | <> -> <> | no | game controller 134 | || <> | during <> | <> (after next stoppage), then <> | no | remote control 135 | || <> | always | - | no | remote control 136 | || <> | always | <> -> <> + <> | no | remote control 137 | 138 | 6+| *Manual* 139 | || <> | - | <> -> <> | no | human referee 140 | || <> | always | <> -> <> | yes | human referee 141 | || <> | <> | <> -> <> | yes | human referee 142 | || <> | always | <> -> <> | yes | human referee 143 | || <> | always | <> -> <> | no | human referee 144 | || <> | always | <> -> <> | no | human referee 145 | 146 | |=== 147 | 148 | A visualized graph of the game events is stored as https://raw.githubusercontent.com/RoboCup-SSL/ssl-rules/master/images/SSL_Game_Events.graphml[graphml] and can be viewed at https://www.yworks.com/yed-live/?file=https://raw.githubusercontent.com/RoboCup-SSL/ssl-rules/master/images/SSL_Game_Events.graphml[yed-live]. 149 | 150 | [appendix] 151 | == Overview of Timings 152 | |=== 153 | | Situation | Div A Time | Div B Time 154 | 155 | | Remove robot for <> | 10 s | 10 s 156 | | <> | 10 s | 10 s 157 | | <> | 10 s | 10 s 158 | | <> | 5 s | 10 s 159 | | <> inside <> | 5 s | 10 s 160 | | <> | 5 s | 10 s 161 | |=== 162 | 163 | 164 | [appendix] 165 | == Differences Between Divisions 166 | 167 | This is a complete list of differences between <> A and <> B. 168 | 169 | * Division A plays on a <> with <> than division B. As a result, a <> is taken from a greater distance as well. 170 | * Division A plays with <> than division B. 171 | * The automatic <> procedure is mandatory for division A and optional for division B. 172 | * The <> rule only applies to division B. 173 | * Division A has shorter timeouts in some situations. 174 | -------------------------------------------------------------------------------- /chapters/ballleavesthefield.adoc: -------------------------------------------------------------------------------- 1 | == Ball Leaves The Field 2 | When the ball leaves the field by fully crossing the <>, the game will be stopped, the ball will be placed and the game will be restarted depending on the position of the field line crossing as well as on the team that last touched the ball. 3 | 4 | === Touch Line Crossing 5 | Touch lines are the long <> at both sides of the playing field. 6 | 7 | ==== Throw-In 8 | .Definition 9 | The ball has to be placed 0.2 meters perpendicular to the touch line where the ball crossed the touch line. Its distance to the goal lines must be at least 0.2 meters. 10 | 11 | After the ball has been placed, a <> is awarded to the opponent of the team that last touched the ball before it left the field. 12 | 13 | .Usage 14 | A throw-in is used to restart the game after the ball left the field by crossing the touch line. 15 | 16 | === Goal Line Crossing 17 | Goal lines are the short <> at both ends of the playing field. 18 | 19 | ==== Goal Kick 20 | .Definition 21 | The ball has to be placed 0.2 meters from the closest touch line and 1 meter from the goal line. 22 | 23 | After the ball has been placed, a <> is awarded to the opponent of the team that last touched the ball before it left the field. 24 | 25 | .Usage 26 | A goal kick is used to restart the game after the ball left the field by crossing the goal line of the team that did not touch the ball last. 27 | 28 | NOTE: In division B, the <> might apply instead. 29 | 30 | ==== Corner Kick 31 | .Definition 32 | The ball has to be placed 0.2 meters from the closest touch line and 0.2 meters from the goal line. 33 | 34 | After the ball has been placed, a <> is awarded to the opponent of the team that last touched the ball before it left the field. 35 | 36 | .Usage 37 | A corner kick is used to restart the game after the ball left the field by crossing the goal line of the team that touched the ball last. 38 | 39 | [[aimless-kick, Aimless Kick]] 40 | ==== Aimless Kick [small]#(_Division B only_)# 41 | .Definition 42 | The ball has to be placed at the position from where the ball was kicked (see the <> rules for the exact ball position rules). 43 | 44 | After the ball has been placed, a <> is awarded to the opponent of the team that last touched the ball before it left the field. 45 | 46 | .Usage 47 | A kick is aimless when after the ball touched a robot, it subsequently crossed the halfline and then its opponent's goal line outside the goal without touching another robot. 48 | 49 | A kick-off kick cannot be aimless, as the ball is located on the <> and does therefore not cross it. 50 | -------------------------------------------------------------------------------- /chapters/challengeflag.adoc: -------------------------------------------------------------------------------- 1 | == Challenge Flags 2 | 3 | A challenge flag allows teams to challenge a decision of the referee: 4 | 5 | . If referees decision was correct, team loses a timeout. 6 | . If referees decision was incorrect, the correct decision is applied and the team doesn't lose a timeout. 7 | 8 | NOTE: The flag is consumed in both cases. 9 | 10 | Only one ruling may be challenged at a time. 11 | 12 | The team must have at least one timeout left before using a challenge flag. 13 | 14 | Each team will receive *three flags* at the start of the game. 15 | 16 | NOTE: This rule is inspired by challenge flags in American football. -------------------------------------------------------------------------------- /chapters/emergencystop.adoc: -------------------------------------------------------------------------------- 1 | == Emergency stop 2 | 3 | .Definition 4 | A team can ask to stop the game immediately after a grace period of 10 seconds or at the next stoppage, whichever happens first regardless of the current situation. 5 | It will receive a yellow card for this and must take a timeout immediately. 6 | If the team is out of timeouts, it is still allowed to remove robots from the field, but can not use any remaining timeout time. 7 | 8 | NOTE: This rule is supposed to be used in extreme situations only, e.g. a software crash or when robots are damaging themselves significantly. 9 | 10 | When the game is stopped due to this rule, there are three possibilities that may have happened: 11 | 12 | . The grace period has passed and the game is stopped. 13 | . The human referee stopped the game earlier. 14 | . The game is stopped earlier due to the ball leaving the field or because of a foul. 15 | 16 | For these possibilities there are two methods to proceed the game: 17 | 18 | . For *1* and *2*, the game is continued with a <> for the opposing team. 19 | . For *3*, the game is continued like after a regular timeout. 20 | 21 | .Usage 22 | An emergency stop intent can be made using <>. 23 | 24 | NOTE: The referee may stop the game earlier if there is no promising play in action. 25 | -------------------------------------------------------------------------------- /chapters/gamestructure.adoc: -------------------------------------------------------------------------------- 1 | == Game Structure 2 | === Impartial Roles 3 | To play an official match in the Small Size League, four impartial roles must be filled: 4 | 5 | * the <> 6 | * the <> 7 | * the <> 8 | * the <> 9 | 10 | Usually, these roles are filled by two non-playing teams, with one team providing the <> and the <> and the other team providing the <> and the <>. The assignment of the roles is up to the <>. 11 | 12 | Every participating team is required to be able to provide enough people who are familiar with these roles. 13 | 14 | ==== Referee 15 | Each match is controlled by the referee. He has full authority to enforce the rules of the Small Size League in connection with the match to which he has been appointed. The referee is encouraged to use the designated walking area next to the field (see <>). 16 | 17 | The referee is assisted by the <> software. The human referee is allowed to override any decision made by the automatic referee software. 18 | 19 | The decisions of the referee regarding facts connected with play are final. The referee may only change a decision on realizing that it is incorrect or, at his discretion, on the 20 | advice of an assistant referee, provided that he has not restarted play. 21 | 22 | The rules do not define all circumstance and their consequences in every detail. 23 | The referee is thus advised to judge in an adequate way, if the rules are not explicit. 24 | The usual procedure is to issue a warning on the first occurrence and an <> on repetition. 25 | 26 | The referee is not held liable for any kind of injury suffered by an official or spectator, any damage to property of any kind nor any other loss suffered by an individual, club, company, association, or other body. 27 | 28 | The <> is the only team member that may talk to the referee. 29 | 30 | .Duties 31 | 32 | * The referee ensures a safe match for all humans and robots 33 | * The referee ensures a fair match according to the rules of the Small Size League 34 | * The referee ensures that there is no interference by unauthorized persons or team members 35 | * The referee or assistant referee places the ball for <> and <> (division A) or after every <> (division B). Subsequently, the referee resumes the match 36 | * The referee ensures that the game is started and resumed in time 37 | 38 | ==== Assistant Referee 39 | The assistant referee supports the referee wherever he can. He is encouraged to use the designated walking area next to the <>, opposite the referee. 40 | 41 | No team members are allowed to talk to the assistant referee. 42 | 43 | .Duties 44 | 45 | * The assistant referee indicates when misconduct or any other incident has occurred out of the view of the referee 46 | * The assistant referee discusses unclear situations with the referee 47 | * The referee or assistant referee places the ball for <> and <> (division A) or after every <> (division B) 48 | 49 | 50 | ==== Game Controller Operator 51 | During a match, the game controller operator uses the <> as an interface between the <>, the <> and the team software. 52 | 53 | No team members are allowed to talk to the game controller operator, except the <> for <> intents. 54 | 55 | .Duties 56 | * The game controller operator configures the <> before the game begins 57 | * The game controller operator enters the signals of the <> into the <> 58 | * The game controller operator watches the game event log for any events that need attention, like detections of an <> or elapsed timers and notifies the <> 59 | 60 | ==== Vision Expert 61 | During a match, the vision expert is in charge of the <> on the field. 62 | 63 | Team members are generally advised not to talk to the vision expert, unless they experience major vision problems. 64 | 65 | .Duties 66 | 67 | * The vision expert checks the vision hardware and reports any kind of hardware problems to the <> 68 | * The vision expert monitors the shared vision system during the match and reports any kind of problems to the referee instantly 69 | * The vision expert recalibrates the vision system if the referee deems it necessary 70 | 71 | === Team-Specific Roles 72 | 73 | ==== Robot Handler 74 | Before the start of the match, every team has to designate one robot handler. The robot handler represents the team during the match. 75 | 76 | .Duties 77 | * The robot handler helps <>. 78 | * The robot handler asks the referee for <> if necessary. 79 | * The robot handler can <>. 80 | * The robot handler asks the referee for the permission to substitute a robot in the next stoppage and, if the referee agrees, <>. 81 | * The robot handler voices concerns of the team (for example network issues or vision problems). 82 | 83 | === Match Preparation 84 | All people that fill a role in the match (<> or <>) have to be ready at least 10 minutes before the start of the match to allow the referee to make the following preparations: 85 | 86 | ==== Game Result Sheet 87 | The <> obtains a game result sheet from the <>. After the game, the referee fills in the final score, collects the required signatures and submits the sheet to the <>. 88 | 89 | NOTE: While obtaining the game result sheet, the referee can also take an official <> and referee equipment such as a whistle or red and yellow cards (if provided). 90 | 91 | ==== Testing The Network 92 | The <> ensures that both teams receive vision data and referee commands. 93 | 94 | ==== Choosing Team Colors 95 | The <> asks the <> of the teams about their preferred team color (either blue or yellow). If the teams agree on a color assignment, the colors will be used for the entire match. 96 | 97 | However, if both teams prefer the same color, the referee assigns the colors by chance. In this case, the teams switch the colors after the first half of the match as well as after the first half of the overtime if applicable. 98 | 99 | ==== Choosing Robot Hull Colors 100 | Teams are encouraged to choose their preferred <> (dark or bright) before the match. If both teams choose the same color, the <> assigns the colors by chance before the game starts. The selected hull color must be used throughout the game. 101 | 102 | ==== Choosing Side And Kick-Off 103 | The <> tosses a coin with both <>. The winning team chooses the goal it will attack in the first half of the match. The other team takes the <> to start the match. 104 | 105 | ==== Choosing Keeper Id 106 | The <> asks both <> which robot they will use as the keeper and forwards this information to the <>. 107 | 108 | The keeper id can be changed anytime during the game if the ball is either <> or in the opponent's field half by: 109 | 110 | . Using the <> network interface 111 | . Asking the <> to change it in the <>. The <> must not change the keeper id until the ball is at a valid position. 112 | 113 | NOTE: Teams should only ask for a change once the requirements are met. The <> is responsible for complying to the rules. 114 | 115 | NOTE: If a team does not want to use a keeper, it may select the id of a robot that is not on the field. 116 | 117 | === Game Stages 118 | ==== Overview 119 | An official match of the Small Size League consists of the following stages: 120 | 121 | |=== 122 | | Game Stage | Duration 123 | 124 | | First Half | 300 seconds of playing time 125 | | Half-Time Break | 300 seconds pause 126 | | Second Half | 300 seconds of playing time 127 | |=== 128 | 129 | If the match is an elimination match (draw is not a possible outcome) and the score is even after the regular game time, the match goes into overtime and the following game stages are added: 130 | 131 | |=== 132 | | Game Stage | Duration 133 | 134 | | Pre-Overtime Break | 300 seconds of pause 135 | | Overtime First Half | 150 seconds of playing time 136 | | Overtime Half-Time Break | 120 seconds of pause 137 | | Overtime Second Half | 150 seconds of playing time 138 | |=== 139 | 140 | If the score is even after overtime has been played, the following stages are added: 141 | 142 | |=== 143 | | Game Stage | Duration 144 | 145 | | Pre-Shoot-Out Break | 120 seconds of pause 146 | | <> | unlimited 147 | |=== 148 | 149 | The match timer is paused whenever no team is allowed to <>. This includes <>, <> and the preparation states of <> and <>. Additionally, it is paused during <>. 150 | 151 | NOTE: As a result, the time needed for a match is much greater than the playing time. 152 | 153 | ==== Timeouts 154 | The <> has to ask the referee for a timeout. Timeouts are handled like <>, meaning that both teams are allowed to make modifications to their software and hardware (see <>). 155 | 156 | Any robot that has been physically interacted with during a timeout must be taken out of the field. It can be brought in again, also during the same timeout, via the area outlined in <>. 157 | 158 | Each team is allocated 4 timeouts at the beginning of the match. A total of 300 seconds is allowed for all timeouts. Timeouts may only be taken during a game 159 | stoppage. The time is monitored and recorded by the <>. 160 | 161 | NOTE: For example, a team may take 3 timeouts of 60 seconds duration and thereafter have only one timeout of up to 120 seconds duration. 162 | 163 | During overtime, both teams can use 2 timeouts with a total time of 150 seconds. The number of timeouts and the time not used in regular game are not added. 164 | 165 | No timeouts are possible in the <> stage. 166 | 167 | ==== Early Termination At A Score Of 10 168 | Before the <> stage, when a team manages to shoot 10 goals, 169 | the match is automatically terminated as soon as the goal difference is greater than one and 170 | the team with more goals is declared the winner. 171 | 172 | NOTE: During the group phase, the number of goals scored is used as tie-breaker, so the absolute number of goals matter for overall scoring. 173 | The rule applies to all game types for simplicity. 174 | -------------------------------------------------------------------------------- /chapters/introduction.adoc: -------------------------------------------------------------------------------- 1 | == League Overview 2 | === Committees 3 | The Small Size League (like every other league of the RoboCup) is run by close cooperation of three different committees (<>, <> and <>), all with a different set of responsibilities. The members of the respective committees can be found on the official RoboCup Small Size League website (https://ssl.robocup.org). 4 | 5 | NOTE: In practice, there is no strict separation between the <> and the <>. Members of both committees often work together on the joint set of tasks. 6 | 7 | Additionally, the members of the <> organize the RoboCup event for all leagues. 8 | 9 | ==== Executive Committee 10 | Executive committee members are responsible for the long term goals of the Small Size League and thus have also contact to other leagues as well as to the RoboCup federation. The executive committee presents the Small Size League and its achievements to the RoboCup federation every year and gets feedback to organize the league. Executive committee members are elected by the board of trustees of the RoboCup federation. They serve 3-year terms. 11 | 12 | ==== Technical Committee 13 | The technical committee of the Small Size League is responsible for the technical aspects of the RoboCup, such as maintaining the rules and the shared software. All members are elected by the team leaders of the teams which have participated in the previous competition. 14 | 15 | ==== Organizing Committee 16 | The organizing committee of the Small Size League is responsible for preparing and organizing the competition. This mainly includes making the schedule, performing the qualification process, and running the competition. The committee members are selected by the <> of the league and the RoboCup trustees. 17 | 18 | ==== Local Organizing Committee 19 | The local organizing committee is responsible for planning and executing the event itself in accordance with the needs of the different leagues. This includes setting up the team areas (fields, network, tables, whiteboard, screens, etc.), creating a schedule for the event and implementing a safety and security concept. 20 | 21 | === Divisions 22 | The Small Size League is divided into two divisions with separate tournaments, namely division A and division B. Division A is aimed at advanced teams whereas new and/or less competitive teams can play in division B. Each team will only play in one of those two divisions. 23 | 24 | When submitting the qualification material, the team also chooses a preferred division including a short rationale. The members of the <> will have the final word. Information about the qualification process can be found on the official RoboCup Small Size League website (https://ssl.robocup.org). 25 | 26 | A summary of differences between the two divisions can be found in the <>. 27 | 28 | NOTE: Divisions allow for more radical advancements in the Small Size League without drastically raising the entry barrier for new teams. Additionally, they also considerably increase the amount of matches between teams of similar skill. 29 | -------------------------------------------------------------------------------- /chapters/offenses.adoc: -------------------------------------------------------------------------------- 1 | == Offenses 2 | === No Progress In Game 3 | If there is no progress in the game for 5 seconds (Division A) or 10 seconds (Division B) while both teams are allowed to 4 | <>, the game is <> 5 | and continued by a <>. 6 | 7 | === Double Touch 8 | When the ball is brought <> following a <> or <>, 9 | the kicker is not allowed to touch the ball until it has been touched by another robot or the game has been stopped. 10 | 11 | The ball must have moved at least 0.05 meters to be considered as <>. 12 | 13 | A double touch results in a <> followed by a <> from the same ball position. 14 | 15 | NOTE: It is understood that the ball may be bumped by the robot multiple times over a short distance while the kick is being taken. 16 | This is why a distance of 0.05 meters is used to decide whether a robot violates this rule or not. 17 | Remaining in contact with the ball for more than 0.05 meters also counts as double touch, even though technically the robot only touched the ball once. 18 | 19 | === Unsporting Behavior 20 | Unsporting behavior can lead to <>, <>, <>, a <> or a <>. The human <> chooses an appropriate sanction, depending on the severity of the offense. 21 | 22 | For minor infringements, a <> is adequate, 23 | while on more severe infringements, that gave the team an advantage, a <> or <> can be issued. 24 | 25 | For harder sanctions, the referee is advised to refer to members of the <> or the <>. 26 | 27 | NOTE: If the referee is not sure which sanction to choose, he may confer with the <> and members of the <> or the <>. 28 | 29 | Some examples of unsporting behavior are listed below. 30 | 31 | ==== Damaging Other Robots 32 | It is not allowed to damage or modify robots of other teams. 33 | 34 | ==== Damaging The Field Or The Ball 35 | It is not allowed to damage or modify the field or the ball. 36 | 37 | ==== Disrespect Procedures 38 | Not following defined procedures repetitively, like for example: 39 | 40 | * <> puts a robot on the field, while it is not allowed 41 | * Robots do not keep required distance to the ball during stop 42 | * Robots do not conform to the positioning rules during a <> and need to be moved or removed manually 43 | 44 | ==== Showing Lack Of Respect 45 | A team member must show appropriate respect to everyone involved in the game. Infringements of this rule include but are not limited to: 46 | 47 | * insulting the opponent, the <> or other persons holding an <> 48 | * annoying the <> or other persons holding an <> 49 | * not obeying the orders of the <> 50 | 51 | 52 | 53 | === Fouls 54 | The number of fouls per team is tracked by a counter. Each foul will 55 | increase the counter by one. Every third increase to the foul counter 56 | causes a <> to be awarded. 57 | 58 | Violations in this section and its subsections increase the foul counter if not stated otherwise. 59 | 60 | NOTE: Regardless, of the prescribed penalties in this section, if a 61 | foul is severe or repeated, the referee can choose to immediately 62 | issue a <> or in extreme cases a <>. 64 | 65 | 66 | 67 | ==== Stopping Fouls 68 | Fouls in this section cause the game to <> and then resume 69 | with a <> for the opposite team from the position where the ball was 70 | located when the foul began happening. 71 | 72 | ===== Robot Too Close To Opponent Defense Area 73 | During <> and <>, before the ball <>, all robots have to keep at least 0.2 meters distance to the opponent <>. 74 | 75 | There is a grace period of 2 seconds for the robots to move away from the opponent defense area. 76 | 77 | The game is immediately halted after the second such foul committed by the same team while the game is stopped or during a <>, before the ball has entered play. 78 | 79 | NOTE: If the first foul is committed during a <>, the game is still stopped regularly. 80 | The grace period is restarted after the first foul of the same team. 81 | Both fouls count towards the foul counter. 82 | There are no individual fouls per robot. 83 | 84 | ===== Pushing 85 | A robot pushes an opponent robot if both robots keep contact to the ball or to each other while the robot exerts force onto the opponent robot, such that both robots travel towards the opponent robot. 86 | 87 | NOTE: If both robots are pushing each other with similar force, no team is at fault. 88 | 89 | ===== Ball Holding 90 | Robots must not surround the ball to prevent access by others. 91 | 92 | ===== Tipping Over Or Dropping Parts 93 | A robot must not tip over, break or drop parts on the field that pose a potential threat to other robots. 94 | 95 | A robot violating this rule has to be <>. 96 | 97 | NOTE: Metal parts (screws for example) as well as larger parts generally pose a potential threat, very small non-metal parts (for example rubber subwheel rings) don't. 98 | 99 | ===== Multiple Defenders 100 | NOTE: This rule does not use the standard sanctions defined for <>. 101 | 102 | Robots other than the keeper must maintain best-effort to fully stay outside the own defense area. 103 | Infraction of this rule can be rated as unsporting behavior. 104 | 105 | If a robot other than the keeper touches the ball while this robot is entirely 106 | inside its own defense area, the game is stopped and a <> is awarded to the other team. The foul counter is *not* 108 | increased. 109 | 110 | ===== Boundary Crossing 111 | A robot must not kick the ball over the field boundary such that the ball leaves the field. 112 | 113 | ===== Keeper Held Ball 114 | The ball must not be kept in the <> for more than 115 | 5 seconds (Division A) or 10 seconds (Division B). 116 | 117 | ===== Excessive Dribbling 118 | A robot must not <> the ball further than 1 meter, measured linearly from the ball location where the dribbling started. A robot begins dribbling when it makes contact with the ball and stops dribbling when there is an observable separation between the ball and the robot. 119 | 120 | NOTE: Dribblers can still be used to dribble large distances with the ball as long as the robot periodically loses possession, such as kicking the ball ahead of it as human soccer players often do. 121 | 122 | 123 | 124 | ==== Non Stopping Fouls 125 | Fouls in this section do not cause a <>. 126 | Instead, the game continues normally. 127 | 128 | The same no stop foul cannot be triggered again until the foul 129 | condition has stopped being violated or there has been 2 seconds since 130 | the foul was first triggered. This is to allow teams to adjust their 131 | robots' positions, ball speed or any other property that is causing 132 | the violation before being penalized additional times. 133 | 134 | ===== Attacker Touched Ball In Opponent Defense Area 135 | The ball must not be touched by a robot, while the robot is partially or fully inside the opponent <>. 136 | 137 | ===== Ball Speed 138 | A robot must not accelerate the ball faster than 6.5 meters per second in 3D space. 139 | 140 | ===== Crashing 141 | At the moment of collision of two robots of different teams, the difference of the speed vectors of both robots is taken and projected onto the line that is defined by the position of both robots. If the length of this projection is greater than 1.5 meters per second, the faster robot committed a foul. If the absolute robot speed difference is less than 0.3 meters per second, both conduct a foul. 142 | 143 | 144 | 145 | ==== Fouls While Ball Out Of Play 146 | Fouls in this section can only occur when the ball is <>. 147 | 148 | Each foul has a grace period of 2 seconds per team until it is raised again. 149 | 150 | NOTE: If multiple robots commit the same foul within 2 seconds, only the first foul counts. 151 | 152 | NOTE: If a robot keeps committing a foul, it will be punished again after the grace period. 153 | 154 | ===== Defender Too Close To Ball 155 | A robot's distance to the ball must be at least 0.5 meters during an opponent <> or <>. 156 | When the foul is committed, the timer of the opponent team for bringing the ball into play is reset. 157 | 158 | The <> may decide to repeat the <> or <> on significant disturbances. 159 | 160 | NOTE: During <>, there is no automatic sanction for being too close to the ball. The referee may still punish a team for <> by issuing a <> if it does not respect the required distance. See <> for further explanation. 161 | 162 | ===== Robot Stop Speed 163 | A robot must not move faster than 1.5 meters per second during <>. A violation of this rule is only counted once per robot and stoppage. 164 | 165 | There is a grace period of 2 seconds for the robots to slow down. 166 | 167 | NOTE: This rule does not apply to <>. 168 | 169 | NOTE: Since the stop command is used for manual ball placement and 170 | <>, the intention of the robot 171 | speed limit is to avoid robots harming the people on the field. 172 | 173 | ===== Ball Placement Interference 174 | During <>, all robots of the non-placing team have to keep at least 0.5 meters distance to the line between the ball and the placement position (the forbidden area forms a stadium shape). 175 | 176 | If a robot of the non-placing team is too close to the line between 177 | the ball and the placement position for more than 2 seconds, it 178 | commits a foul. In this case, 10 seconds are added to the ball 179 | placement timer. 180 | Only one interference foul per ball placement phase counts towards the foul counter, but the placement timer is always incremented. 181 | 182 | NOTE: This rule does not cover all cases of ball placement interference. 183 | The <> is encouraged to call fouls if the non-placing team is obviously interfering with the ball placement. 184 | 185 | NOTE: If a robot keeps interfering the ball placement (for example if it is stuck or can not move), the human referee is encouraged to stop the placement and place the ball manually. 186 | 187 | ===== Excessive Robot Substitutions 188 | If a team has used up their free robot substitution budget, every additional robot substitution is a foul. 189 | The match is resumed with a <> for the opponent team. 190 | If both teams committed this foul in the same <>, the match is resumed with the original command. 191 | -------------------------------------------------------------------------------- /chapters/playingenvironment.adoc: -------------------------------------------------------------------------------- 1 | == Playing Environment 2 | 3 | === Field Setup 4 | ==== Dimensions 5 | The field of play must be rectangular and of the following size: 6 | 7 | * Division A: 13.4 meters times 10.4 meters with a playing area of 12 meters times 9 meters 8 | * Division B: 10.4 meters times 7.4 meters with a playing area of 9 meters times 6 meters 9 | 10 | The exact field dimensions and the field markings at the venue may vary by up to ±10% in each linear dimension. 11 | 12 | The two figures below show the dimensions of the field, the goals and special field areas, measured in millimeters between the line centers. <> shows the dimensions for division A and <> for division B. 13 | 14 | NOTE: The numbers in the figures below show the distances in millimeters between the line centers. 15 | 16 | [[field-dimensions-a]] 17 | .Field dimensions and markings for division A 18 | image::quad-size-field.svg[] 19 | 20 | [[field-dimensions-b]] 21 | .Field dimensions and markings for division B 22 | image::double-size-field.svg[] 23 | 24 | ==== Field Surface 25 | The playing surface is green felt mat or carpet. The floor under the carpet is level, flat, and hard. 26 | 27 | The field surface will continue for 0.7 meters beyond the <> on all sides. The outer 0.4 meters of this runoff area, separated from the robot area by a 0.1 meters tall black wall, is used as a designated walking area for the <> and the <>. The remaining 0.3 meters are the field margins. 28 | 29 | 30 | ==== Field Markings 31 | The field of play is marked with lines. All lines are 0.01 meters wide and white (paint, spray, white carpet or strong tape). Lines belong to the areas of which they are boundaries. 32 | Distances between lines are measured from their centers. 33 | Distances from a robot are measured from its nearest side to the respective measurement point, with an assumed radius of 0.09 m. 34 | 35 | ===== Field Lines 36 | The playing area is defined by four field lines. The two longer field lines are called touch lines. The two shorter field lines are called goal lines. 37 | 38 | ===== Halfway Line 39 | The field of play is divided into two halves by a halfway line that runs along the width of the field and through the center of the field. 40 | The halfway line is parallel to the goal lines. 41 | 42 | ===== Goal-to-Goal Line 43 | The goal-to-goal line runs along the length of the field, passing through the center of the goals and the field. The goal-to-goal line is parallel to the touch lines. 44 | 45 | NOTE: This line is used to provide adequate features for the geometry calibration of the <> and for optional local localisation of robots. 46 | 47 | ===== Center Circle 48 | The center circle is located at the center of the field with a diameter of 1 meter. 49 | The center is at the crossing of the <> and the <>. 50 | 51 | ===== Defense Area 52 | A defense area is defined as a rectangle touching the goal lines centrally in front of both <>. The size of the defense area is 3.6 meters times 1.8 meters for division A and 2 meters times 1 meter for division B, as shown in figures <> and <> respectively. 53 | 54 | ===== Penalty Mark 55 | The penalty mark defines the point from which a team executes a penalty kick against the opponent goal. It is located on the <> and 8 meters (division A) or 6 meters (division B) away from the opponent's goal center. 56 | 57 | 58 | ==== Goals 59 | Goals must be placed on the center of each goal line and anchored securely to the field surface. They consist of two 0.16 meters high vertical side walls joined at the back by a 0.16 meters high vertical rear wall. The inner face of the goal has to be covered with an energy absorbing material such as foam to help absorb ball impacts and lessen the speed of deflections. The inner goal walls are white, the outer goal walls, edges, and tops are black. 60 | 61 | The distance between the side walls is 1.8 meters for division A and 1 meter for division B, and the goal is 0.18 meters deep. The goal walls are 0.02 meters thick and touch the goal line, but do not overlap or encroach on the field lines or the field. <> and <> show these details for division A and division B respectively. 62 | 63 | NOTE: The numbers in the figures below show the distances in millimeters. 64 | 65 | [[goal-detail-a]] 66 | .The goal in detail for division A 67 | image::goal_detail_divisionA.svg[width=400] 68 | 69 | [[goal-detail-b]] 70 | .The goal in detail for division B 71 | image::goal_detail_divisionB.svg[width=400] 72 | 73 | === Ball 74 | The ball is a standard orange golf ball. It weights approximately 0.046 kilograms and its diameter measures 0.043 meters. 75 | 76 | For official matches, the <> provides the ball. 77 | 78 | === Shared Software 79 | The shared software used in the Small Size League is maintained by the <>, though everyone is encouraged to contribute. The <> members however guarantee that any changes made less than three months before the next RoboCup do not break compatibility. 80 | 81 | ==== Vision 82 | Each field is provided with a shared central vision server and a set of shared cameras. This shared vision equipment uses the community-maintained SSL-Vision software (https://github.com/RoboCup-SSL/ssl-vision) to provide localization data to teams via Ethernet in a packet format that is to be announced by the shared vision system developers before the competition. Teams need to ensure that their systems are compatible with the shared vision system output and that their systems are able to handle the typical properties of real-world sensory data as provided by the shared vision system (including noise, latency, or occasional failed detections and misclassifications). The vision patterns on the top of the robots must adhere to the specifications of SSL-Vision, and must be of the standard color paper as specified in the SSL-Vision documentation. 83 | 84 | Besides the shared vision equipment, teams are not allowed to mount their own cameras or other external sensors, unless specifically announced or permitted by the respective competition organizers. 85 | 86 | SSL-Vision defines an additional https://github.com/RoboCup-SSL/ssl-vision/blob/master/src/shared/proto/messages_robocup_ssl_wrapper_tracked.proto[tracker protocol] that contains filtered and enriched tracking data. Messages are not published by SSL-Vision itself, but for example by some <>. 87 | It is meant to be used by the <> and by teams that do not yet have their own sophisticated filter. 88 | 89 | ==== Game Controller 90 | A game is controlled by the community-maintained ssl-game-controller (https://github.com/RoboCup-SSL/ssl-game-controller). 91 | It is operated by the <>. The software translates decisions of the <> and the <> into Ethernet communication signals that are broadcast to the network. It maintains the state of the game, tracks all events and acts as a proxy between all participating parties in the game. 92 | 93 | The game controller has a network interface for the playing teams. They can automatically <>, they can signal a robot substitution intent for the next opportunity, and they can send an advantage choice for handling game stopping after yellow cards. 94 | 95 | ==== Automatic Referee 96 | One or more automatic referee applications can supervise a game and report <> to the <>. 97 | At least one automatic referee is required per game. If more than one automatic referee is connected to the game controller, a majority vote can be applied. 98 | 99 | New automatic referee implementations can be provided, given that the source code is open-sourced. New implementations must be announced at least three months before the competition. The <> decides if an implementation will be used or not. 100 | 101 | The <> shows which game events an automatic referee implementation must be able to detect. 102 | Individual game events can be disabled completely or in some automatic referee implementations if both teams and the <> agree. 103 | 104 | ==== Remote Control 105 | A remote control for each team can optionally be provided by the tournament organizers. 106 | It is a physical device that allows entering the following commands: 107 | 108 | - Raise a challenge flag 109 | - Request a timeout 110 | - Request robot substitution 111 | - Request emergency stop 112 | - Change the keeper id 113 | 114 | It may also provide feedback information, like: 115 | 116 | - Number of yellow cards and when they are due 117 | - Number of robots currently allowed 118 | - Number of robots currently on the field 119 | 120 | The remote control may only be used by the <>. There is always only one remote control per team, per match. 121 | 122 | The official implementation for the league can be found on GitHub: https://github.com/RoboCup-SSL/ssl-remote-control. 123 | 124 | === Communication Flags 125 | 126 | The communication flags are used to avoid gesturing and yelling with the <> during a match. 127 | These flags are responsible for communicating various intents, such as: <>, <>, <> and <>. 128 | 129 | The <> or <> has to acknowledge the communication flag. 130 | Any gesturing and yelling will be considered <>, punished by a <> after the first warning. 131 | 132 | The communication flags are provided by the organizers of the competition. 133 | A <> software or device can be provided and replace physical flags. 134 | Any other solution that the organizers find feasible can also be used. 135 | -------------------------------------------------------------------------------- /chapters/refereecommands.adoc: -------------------------------------------------------------------------------- 1 | == Referee Commands 2 | 3 | An overview of the referee commands and how they interact with the game state, is given in <>. 4 | 5 | === Stopping The Game 6 | ==== Stop 7 | .Definition 8 | When the stop command is issued, all robots have to slow down to less than 1.5 m/s. Additionally, all robots have to keep at least 0.5 meters distance to the ball and are not allowed to <>. 9 | 10 | NOTE: If the ball moves very quickly, it is hard to always keep the required distance to the ball, especially since the speed of the robots is limited during stop. Therefore, it is sufficient if it is obvious to the referee that the robots try their best to follow the distance rule. 11 | 12 | .Usage 13 | The stop command is used to pause the game after the ball crossed the <> (including goals) or an offense occurred as well as to prepare the start or resumption of the game after halt, timeouts and automatic ball placement. The robot speed limit and the minimum distance to the ball allow the referee or assistant referee to place the ball safely and without interference. 14 | 15 | ==== Halt 16 | .Definition 17 | When the halt command is issued, no robot is allowed to move or <>. 18 | 19 | There is a grace period of 2 seconds for the robots to brake. 20 | 21 | .Usage 22 | The halt command allows the referee to interrupt the game immediately whenever an emergency occurs (for example when a robot gets out of control). It is 23 | also used to recalibrate the vision software during a game if the vision expert considers it necessary and the referee agrees and for <>. Additionally, the referee is free to issue the halt command at will. 24 | 25 | The halt command is always followed up by stop. 26 | Enough preparation time should be given to teams, before the game is continued. 27 | The <> will wait for up to 10 seconds after a halt command, but the game can be continued if robots are prepared already. 28 | 29 | NOTE: As a rule of thumb, the game should always be halted when humans other than the referees are entering the field. 30 | 31 | 32 | === Ball Placement 33 | .Definition 34 | After the game was stopped, the ball must be placed on the appropriate position, depending on the event that occurred. 35 | The automatic ball placement is the preferred way to place the ball at the designated position on the field by the robots of the teams without human interaction. 36 | If this is not possible, the <> places the ball manually. 37 | 38 | NOTE: During manual ball placement, the game should be in <> to allow robots to prepare for game continuation. 39 | 40 | No ball placement is required if all of the following constraints are fulfilled: 41 | 42 | * The ball is closer than 1m to the designated position. 43 | * The ball is inside the field. 44 | * The ball is at least 0.7m away from any defense area. 45 | * The ball is stationary. 46 | 47 | In this case, the game can be continued as soon as all robots keep the required distance for <>. 48 | 49 | A ball is considered placed successfully by the robots if 50 | 51 | * no more than 30 seconds passed since the placement command 52 | * there is no robot within 0.05 meters distance to the ball if the next command is a <> for the placing team 53 | * there is no robot within 0.5 meters distance to the ball if the next command is a <> 54 | * the ball is stationary 55 | * the ball is at a position within 0.15 meters radius from the requested position 56 | 57 | No further commands will be issued by the <> until the automatic placement is complete. 58 | The game will be continued by the <> as soon as the ball is successfully placed, but not earlier than 2 seconds after the ball placement command has been issued. 59 | A failed placement will result in a <> for the opposing team. 60 | If this team failed to place the ball as well, the ball is placed by the <> and game continues with the original command. 61 | 62 | For each team a ball placement failure counter is incremented on each placement failure and decremented for successful placements. It can not get negative. 63 | 64 | The non-placing team must not <>. 65 | 66 | .Usage 67 | When the ball goes <>, the following rules decide, if automatic ball placement is applied: 68 | 69 | . The <> has to place the ball for all kickoffs and all penalty kicks 70 | . For a <>, the team that brings the ball <> must place the ball 71 | . For a <>, a team is drawn by chance and must place the ball 72 | . The ball must be visible and must not be inside a field corner, a goal corner or behind the goal, before the ball placement starts 73 | . The <> can decide to place the ball manually at any time 74 | . The <> can decide to disable automatic ball placement for the rest of the game. TC/OC must agree with this decision 75 | . When a teams placement failure counter reached 5, it is not allowed to place the ball for the rest of the game half. All free kicks that were a result of the ball leaving the field, are awarded to the opposing team. For all other rule violations or when both teams failed to place the ball, the ball is placed by the <> 76 | . If no team can place the ball, the ball is placed by the <> or the <>. Both the referee as well as the assistant referee are advised to use a so-called ball handler (a long, preferably black stick-like device) to move the ball. 77 | 78 | NOTE: The ball may still be moving when the placement command is issued. 79 | 80 | NOTE: The game commences directly after ball placement. The team receiving the ball may shoot immediately and leave the opposing team little time to arrange defensive actions if needed. 81 | 82 | NOTE: It is allowed to enter the defense area during ball placement. 83 | 84 | Ball placement is mandatory for all teams in division A. 85 | Teams in division B may decide, at any time before or during the game, not to place the ball for the rest of the game by talking to the <>, who in turn tells the <> to disable ball placement for this team. 86 | In this case, the team is allowed to bring the ball into play, after the ball was placed by the opposing team. 87 | If the opposing team fails to place the ball or no team can place the ball, it is placed by the <> or the <>. 88 | 89 | 90 | === Resuming The Game 91 | After the ball has been placed, the game is resumed using one of the following commands. 92 | 93 | ==== Normal Start 94 | .Definition 95 | For two-staged referee commands, when normal start is sent, an attacker may <>. A match cannot be resumed directly via normal start. 96 | 97 | .Usage 98 | Normal start is used for <> and <>. 99 | 100 | ==== Kick-Off 101 | .Definition 102 | The ball has to be placed in the center of the field by the human referee. 103 | 104 | When the kick-off command is issued, all robots have to move to their own half of the field excluding the <
>. However, one robot of the attacking team is also allowed to be inside the whole center circle. This robot will be referred to as the kicker. No robot is allowed to touch the ball. 105 | 106 | When the <> command is issued, the kicker is allowed to shoot the ball. A goal may be scored directly from the kick-off. 107 | 108 | When the ball is <>, the kicker may not touch the ball until it has been touched by another robot or the game has been stopped (see <>). Also, the restrictions regarding the robot positions are lifted. 109 | 110 | .Usage 111 | Both half times as well as both overtime periods (if needed) start with a kick-off. Chapter <> describes how to determine the attacking team. 112 | 113 | Additionally, after a goal has been scored, the receiving team restarts the game with a kick-off. 114 | 115 | ==== Free Kick 116 | .Definition 117 | The ball placement position for a free kick depends on the event that led to the free kick. This position is valid if there is at least 0.2 meters distance to all <> and 1 meter distance to either <>. If an event requires the ball to be placed at a position that contravenes this rule, it has to be placed at the closest valid position instead. 118 | 119 | When the free kick command is issued, robots of the attacking team are allowed to approach the ball while robots of the defending team still have to stay at least 0.5 meters distance away from the ball (the same distance as in stop). One robot of the attacking team is allowed to shoot the ball. This robot will be referred to as the kicker. A goal may be scored directly from the free kick. 120 | 121 | When the ball is <>, the kicker may not touch the ball until it has been touched by another robot or the game has been stopped (see <>). Also, the restrictions regarding the robot positions are lifted. 122 | 123 | .Usage 124 | Free kicks are used to restart the game after a <> has occurred. Additionally, <> and <> are mapped to free kicks. 125 | 126 | ==== Force Start 127 | .Definition 128 | When the force start command is issued, the game is immediately resumed and both teams are allowed to approach and <> again. 129 | 130 | .Usage 131 | A neutral forced start is used in situations where no team is clearly in favor, such as: 132 | 133 | * the game had to be stopped without a specific reason. 134 | * both teams are at fault. 135 | 136 | ==== Penalty Kick 137 | .Definition 138 | The procedure of a penalty kick is as follows: 139 | 140 | . The ball is placed by the human referee on the <>. 141 | . When the <> command is issued: 142 | .. The defending keeper has to move to the goal line between the goal posts and keep touching the goal line. 143 | .. One attacking robot is allowed to approach the ball but not allowed to touch the ball. 144 | . Throughout the penalty kick procedure, all other robots have to be 1m behind the ball such that they do not interfere the penalty kick procedure. 145 | . When the <> command is issued, the attacker is allowed to <>. The ball has to only move towards the opponent goal, as measured by its x coordinate in the coordinate system of <>. 146 | . When the ball is <>, the defending keeper may move freely again. 147 | . If the ball is still <> after 10 seconds, the game is <>. 148 | 149 | A goal is awarded if: 150 | 151 | * the ball touches the inner surface of a goal wall or the ground of the goal of the defending team, starting from when the <> command is issued. 152 | * the defending team commits any <>. 153 | 154 | The game is continued with a <> when a goal is awarded. 155 | 156 | A goal is not awarded if: 157 | 158 | * the ball crosses any <> outside the goal. 159 | * the defending keeper touches the ball such that the ball speed vector changes direction by at least 90 degrees in 2D space. 160 | * the attacking team violates any rule. 161 | * the ball is still <> after 10 seconds. 162 | 163 | The game is continued by a <> for the defending team when a goal is not awarded. 164 | 165 | NOTE: The restrictions defined for <>, including the ball height limit of 0.15 meters, do not apply here. 166 | Other rules like the <> limitation for example do. 167 | 168 | Additional time is allowed for a penalty kick to be taken at the end of each half or at the end of periods of overtime. 169 | 170 | .Usage 171 | Penalty Kicks are used to punish <> and <>. 172 | 173 | 174 | === Ball In And Out Of Play 175 | When the match is <>, the ball is considered *out of play* until it has been brought into play. 176 | 177 | When the match is <>, the ball is considered *in play* until the next stoppage occurs. 178 | The match is resumed when 179 | 180 | * <> has been issued. 181 | * the ball moved at least 0.05 meters following a <>, <> or <>. 182 | * 10 seconds passed following a <>. 183 | * 5 seconds (Division A) or 10 seconds (Division B) passed following a <>. 184 | 185 | NOTE: see <> for the rationale of the 0.05 meter distance 186 | 187 | 188 | === Sanctions 189 | 190 | ==== Yellow Card 191 | .Definition 192 | 193 | If the yellow card is shown as a result of <>, the referee may decide to immediately <> the match. In this case, the match continues with a free kick for the other team. 194 | 195 | Upon receipt of a yellow card, the number of robots allowed on the field for the penalized team decreases by one. If, after this decrease, the team has more robots than permitted on the field, a robot must be <>. 196 | 197 | A yellow card does not lead to a stop automatically. If the ball is <>, the team will have 10 seconds to <>. If a robot is not taken out within time, the game is stopped for <> and continues with a <>. 198 | The 10 seconds can be extended indefinitely by the other team by sending an advance choice to the <>. 199 | 200 | NOTE: This rule implies that after receiving a yellow card, the game might not be automatically stopped. However, the game will be stopped if the foul that led to the yellow card causes a game stoppage, e.g. dropping parts. Therefore, if one of those fouls occurred, the team is allowed to manually remove the robot. 201 | 202 | NOTE: No penalty will be given to the team that couldn't get the robot out of the field in time. However, in the future there will be a penalty like this: If the robot gets manually substituted, the ball is placed on the <> and 1.5 meters away from the teams defense area and the opposing team gets a free kick. 203 | 204 | A team cannot score a goal while having more than the allowed number of robots on the field. 205 | 206 | After 120 seconds of playing time (measured by the game controller), the yellow card expires and the number of allowed robots is increased by one. The team may <> during the next opportunity. 207 | 208 | When a team has two not yet expired yellow cards and receives another yellow card, this card will be turned into a red card instead. 209 | 210 | .Usage 211 | Yellow cards are used to punish teams that committed multiple <>. 212 | 213 | Yellow cards can also be given by the referee to punish <> or <>. 214 | 215 | ==== Red Card 216 | .Definition 217 | A red card behaves like a <>, except: It does not expire until the end of the game. 218 | 219 | .Usage 220 | Red cards are given by the referee to punish severe <> or <>. 221 | 222 | NOTE: For example, serious violent contact by the robots or disrespectful behavior towards the referees can result in a red card. 223 | 224 | 225 | ==== Forced Forfeit 226 | .Definition 227 | A Forced forfeit means that a team instantly loses the current game with a score of 0 to 10. 228 | 229 | .Usage 230 | A team can be forced to forfeit if it is unable to play with at least one robot that satisfies the rules. 231 | 232 | A team can only be forced to forfeit in agreement with members of the <> and the <>. 233 | 234 | ==== Disqualification 235 | .Definition 236 | A Disqualification means that a team immediately drops out of the tournament and places last. It will not be eligible to receive any trophies. 237 | 238 | .Usage 239 | A team can be disqualified if members of this team don't follow safety guidelines, rules of the venue or commit similarly severe offenses. 240 | 241 | A team can only be disqualified in agreement with members of the <> and the <>. 242 | -------------------------------------------------------------------------------- /chapters/robots.adoc: -------------------------------------------------------------------------------- 1 | == Robots 2 | 3 | === Number Of Robots 4 | A match is played by two teams, with each team consisting of not more than 11 robots in division A and not more than 6 robots in division B, one of which may be the keeper. Each robot must be clearly numbered according to its vision pattern so that the referee can identify it during the match. The id of the keeper must be chosen before the match starts (see <>). 5 | 6 | An exception is made during the Division A group phase, where the number of robots is limited to 8 if at least one of the two teams prefers it. 7 | 8 | === Hardware And Software Constraints 9 | The <> may force a team to remove a robot from the field if it does not satisfy the rules. Members of the <> may also check the hardware and software constraints of robots at any point of the tournament. 10 | 11 | If a team is not able to provide at least one robot that satisfies the rules, the team is <>. 12 | 13 | ==== Safety 14 | A robot must not pose danger to itself, another robot, or humans. It must not <>. 15 | 16 | The <> has to force a team to remove a robot from the field if he considers it a potential safety threat. 17 | 18 | ==== Shape 19 | A robot must fit inside a 0.18 meters wide and 0.15 meters high cylinder at any point in time. Additionally, the top of the robot must adhere to the standard pattern size and surface constraints. 20 | 21 | ==== Hull Color of Robots 22 | To ensure clarity and effective identification during gameplay, the following rules apply to the coloring of robot hulls: 23 | 24 | Bright and dark color scheme: 25 | 26 | * All robots from a team must have interchangeable hull colors: one bright and one dark. 27 | * These two colors must be the same for all robots in a team. 28 | * The color must vertically cover at least 6 cm of the robot's maximum height. 29 | 30 | Coverage requirements: 31 | 32 | * The robot hull must not be reflective to avoid interfering with the vision system. 33 | * The robot hull must avoid colors close to the ones used at <> and <>. 34 | * Colors must adhere properly and remain durable to prevent dropping or peeling during the match. If the color cover drops, it will be penalized accordingly (see <>). 35 | 36 | ==== Dribbling Device 37 | Dribbling devices that actively exert spin on the ball, which keep the ball in contact with the robot are permitted under certain conditions: 38 | 39 | * The dribbling device must not elevate the ball from the ground 40 | * Another robot must be able to remove the ball from a robot with the ball. 41 | * A robot must not take full control of the ball by removing all of its degrees of freedom. 42 | * 80% of the area of the ball when viewed from above has to be outside the convex hull around the robot. This limitation applies as well to all kicking devices, even if such infringement is momentary. 43 | 44 | ==== Vision Pattern 45 | All participating teams must adhere to the given operating requirements of the <>. In particular, teams are required to use a certain set of standardized colors and patterns on top of their robots. 46 | 47 | To ensure compatibility with the standardized patterns for the shared vision system, all teams must ensure that all robots have a flat surface with sufficient space available on the top side. The color of the robot top must be black or dark grey and have a matte (non-shiny) finish to reduce glare. The standard vision pattern is guaranteed to fit within a circle with a radius of 0.085 meters that is linearly cut off on the front side of the robot to a distance of 0.055 meters from the centre, as shown in <>. Teams must ensure that their robot tops fully enclose this area. 48 | 49 | [[standard-vision-pattern]] 50 | .Standard Vision Pattern Dimensions 51 | image::standard_pattern2010.png[] 52 | 53 | Every robot must have one of the 16 patterns shown in <>. No two robots are allowed to use the same pattern. 54 | 55 | The center dot color determines the team and is either blue or yellow (see <>). The other four dot colors encode the id of the robot. To ensure that every team uses the same colors, the <> provides enough colored paper at the competition. 56 | 57 | NOTE: Teams are encouraged to prefer color assignments with ids 0 to 7 because they have been experimentally found more stable, as there is no risk that the back two dots “color-bleed” into each other. 58 | 59 | .Standard Vision Pattern Colors 60 | [[standard-vision-colors]] 61 | image::standard_colors2010.svg[width=500] 62 | 63 | ==== Radio Communication 64 | Participants using wireless communications must notify the <> of the method of wireless communication, power, and frequency. The <> must be notified of any change after registration as soon as possible. In order to avoid interference, a team must be able to select from two carrier frequencies before the match. The type of wireless communication has to follow legal regulations of the country where the competition is held. Compliance with local laws is the responsibility of the competing teams, not the RoboCup Federation. 65 | 66 | The type of wireless communication may also be restricted by the <>. The local organizing committee will announce any restrictions to the community as early as possible. 67 | 68 | NOTE: Bluetooth is not allowed since it cannot be fixed to frequency channels. 69 | 70 | ==== Autonomy 71 | The robotic equipment has to be fully autonomous. Human operators are not permitted to enter any information to the system during a match, except in <> or during a <>. Additionally, robots may not be manually moved during any phase of the match, except for moving robots out of the field, or into the field as described in <>. Disregarding this rule is considered <>. 72 | -------------------------------------------------------------------------------- /chapters/rulechanges.adoc: -------------------------------------------------------------------------------- 1 | == Rule Changes During Competition 2 | 3 | Rule changes between years can have unforeseen consequences. 4 | If a rule is found to cause significant negative impact to the competition, the rules may be adapted under the following conditions: 5 | 6 | * Only between phases of the competition, like round-robin and knockout 7 | * Only for major problems, as a last resort 8 | * The change must be approved by all team leaders (by an unanimity vote) 9 | -------------------------------------------------------------------------------- /chapters/scoringgoals.adoc: -------------------------------------------------------------------------------- 1 | == Scoring Goals 2 | A team scores a goal when the ball fully enters the opponent goal between the goal posts, 3 | provided that: 4 | 5 | * The team did not exceed the allowed number of robots when the ball entered the goal. 6 | * The height of the ball did not exceed 0.15 meters after the last touch of the teams robots. 7 | * The team did not commit any <> in the last two seconds before the ball entered the goal. 8 | 9 | NOTE: "The team" refers to the scoring team that is awarded a goal, not the team that kicked the ball. 10 | For example, an own goal is not possible while the opponent team has too many robots on the field. 11 | 12 | NOTE: During <>, more specific rules apply. 13 | 14 | If the goal is considered invalid, the game will be continued as if the ball crossed the goal line outside the goal. 15 | -------------------------------------------------------------------------------- /chapters/shootout.adoc: -------------------------------------------------------------------------------- 1 | == Shoot-Out 2 | 3 | .Definition 4 | Both teams alternately attempt to score a goal with a <> until each team has performed 5 attempts. 5 | If both teams have the same score after those 5 attempts, each team takes another attempt in the same order as before until the score of the two teams is different. 6 | 7 | Only up to one attacking robot and one keeper is allowed per team. 8 | During a shoot-out attempt, the attacking robot and the opponent keeper are the only ones allowed to move and <>. 9 | Other robots are not allowed to interfere. 10 | 11 | If a team is clearly not able to prepare for a <>, a goal is automatically awarded to the opposing team. 12 | 13 | Robots may be <> between shoot-out attempts. 14 | The new robot may be put in right away. 15 | 16 | NOTE: Note that <> are not allowed during shoot-out. 17 | 18 | NOTE: If there is no clear progress in determining a winner 19 | (after 10 shoot-outs, if both teams time out doing shoot-outs, or if both teams cannot prepare and execute the penalty kick), 20 | the human referee can give both teams a certain amount of time (like 5min) to change their system. 21 | This time can be applied multiple times, if needed, to eventually determine a winner. 22 | 23 | .Usage 24 | Shoot-Out is used to determine the winner of an elimination match if both teams scored the same amount of goals in previous <>. 25 | -------------------------------------------------------------------------------- /chapters/substitution.adoc: -------------------------------------------------------------------------------- 1 | == Robot Substitution 2 | .Definition 3 | Robots are substituted by the <> of the respective team. No other team member is allowed to take robots out or put robots in. 4 | 5 | The <> should prefer to use long sleeves and colors that won't interfere with the vision system. 6 | 7 | Robots can always be taken in and out during game play without notifying the <> if all the following conditions are met: 8 | 9 | . The robot is at least partially inside the <>. 10 | . The robot is at a distance from the <> that must not exceed 1 meter. 11 | . The ball must be at least 0.5 meters away from the robot. 12 | 13 | Additionally, robots can be taken out from any position on request using the procedure below: 14 | 15 | . The <> requests robot substitution at any time. 16 | . The <> will <> the game at the next opportunity. 17 | . The <> may enter the field and touch robots now. 18 | . The <> takes robots out. 19 | . The <> informs the <> when done. 20 | . When both teams finished the robot substitution, the <> informs the <>. 21 | . The <> performs a <> followed by continuing the game. 22 | 23 | The maximum allowed number of robots of the team on the field must not be exceeded at any time when putting robots in. 24 | 25 | .Usage 26 | Robots can be substituted for any reason. 27 | A substitution grants the team 20 seconds to take robots out. After that time, a new substitution is started. 28 | Each team has 5 free substitutions per halftime. 29 | Every additional substitution will result in an <> for the team. 30 | 31 | A robot substitution intent can be made by: 32 | 33 | . A <> by informing the <> who in turn enters the intent into the <>. 34 | . A <> by using the <>, if provided. 35 | . A team software by sending a request to the <>. 36 | . The <> itself if a team exceeds the maximum number of robots (for example after a team receives a <> or <>). 37 | 38 | If the game was halted due to a substitution intent by a team, at least one robot must be taken out by this team. A substitution intent can be revoked unless the game was not already halted for substitution. 39 | 40 | If a robot substitution intent for either team is present just before the game would continue after ball placement, the <> automatically <> the game. 41 | -------------------------------------------------------------------------------- /diffRules.py: -------------------------------------------------------------------------------- 1 | import sys 2 | from htmldiffer import diff 3 | 4 | try: 5 | a, b = sys.argv[1:3] 6 | except ValueError: 7 | print("htmldiffer: highlight the differences between two html files") 8 | print("usage: " + sys.argv[0] + " a b") 9 | sys.exit(1) 10 | d = diff.HTMLDiffer(a, b) 11 | 12 | print(d.combined_diff) 13 | -------------------------------------------------------------------------------- /images/goal_detail_divisionA.svg: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 21 | 23 | 30 | 35 | 36 | 43 | 49 | 50 | 57 | 63 | 64 | 71 | 77 | 78 | 85 | 91 | 92 | 99 | 105 | 106 | 113 | 119 | 120 | 127 | 133 | 134 | 141 | 147 | 148 | 155 | 161 | 162 | 169 | 175 | 176 | 183 | 189 | 190 | 197 | 203 | 204 | 211 | 217 | 218 | 225 | 231 | 232 | 233 | 253 | 255 | 256 | 258 | image/svg+xml 259 | 261 | 262 | 263 | 264 | 265 | 270 | 277 | 284 | 291 | 298 | 303 | 308 | 313 | 318 | 323 | 328 | 333 | 20 344 | 180 355 | 10 366 | 20 377 | 382 | 1800 393 | 394 | 395 | -------------------------------------------------------------------------------- /images/goal_detail_divisionB.svg: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 21 | 23 | 30 | 35 | 36 | 43 | 49 | 50 | 57 | 63 | 64 | 71 | 77 | 78 | 85 | 91 | 92 | 99 | 105 | 106 | 113 | 119 | 120 | 127 | 133 | 134 | 141 | 147 | 148 | 155 | 161 | 162 | 169 | 175 | 176 | 183 | 189 | 190 | 197 | 203 | 204 | 211 | 217 | 218 | 225 | 231 | 232 | 233 | 252 | 254 | 255 | 257 | image/svg+xml 258 | 260 | 261 | 262 | 263 | 264 | 269 | 276 | 283 | 290 | 297 | 302 | 307 | 312 | 317 | 322 | 327 | 332 | 20 343 | 180 354 | 10 365 | 20 376 | 381 | 1000 392 | 393 | 394 | -------------------------------------------------------------------------------- /images/quad-size-field.svg: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 20 | 22 | 25 | 29 | 30 | 33 | 37 | 38 | 45 | 51 | 52 | 59 | 65 | 66 | 73 | 79 | 80 | 87 | 93 | 94 | 101 | 107 | 108 | 115 | 121 | 122 | 129 | 135 | 136 | 143 | 149 | 150 | 157 | 163 | 164 | 171 | 177 | 178 | 185 | 191 | 192 | 199 | 205 | 206 | 213 | 219 | 220 | 227 | 233 | 234 | 241 | 247 | 248 | 255 | 261 | 262 | 269 | 275 | 276 | 283 | 289 | 290 | 297 | 303 | 304 | 311 | 317 | 318 | 325 | 331 | 332 | 339 | 345 | 346 | 353 | 359 | 360 | 367 | 373 | 374 | 381 | 387 | 388 | 395 | 401 | 402 | 409 | 415 | 416 | 423 | 429 | 430 | 437 | 443 | 444 | 451 | 457 | 458 | 465 | 471 | 472 | 479 | 485 | 486 | 493 | 499 | 500 | 510 | 511 | 539 | 541 | 542 | 544 | image/svg+xml 545 | 547 | 548 | 549 | 550 | 551 | 557 | 564 | 571 | 581 | 588 | 595 | 602 | 607 | 612 | 617 | 622 | 627 | 632 | 637 | 641 | 648 | 655 | 662 | 663 | 666 | 674 | 682 | 690 | 691 | 696 | 701 | 706 | 13400 717 | 10400 729 | 12000 740 | 9000 751 | 3600 762 | 1800 773 | 10 784 | 300 795 | 700 806 | 1000 817 | 1800 828 | 834 | 840 | 845 | 850 | 863 | 870 | 871 | 872 | -------------------------------------------------------------------------------- /images/standard_pattern2010.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboCup-SSL/ssl-rules/158143a913721f6eeb0ac3f1d3ee7eb9f1480835/images/standard_pattern2010.png -------------------------------------------------------------------------------- /pages/2019/sslrules.pdf: -------------------------------------------------------------------------------- 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Rules of the RoboCup Small Size League

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2025

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2024

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2023

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2022

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2021

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2020

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2019

51 | 55 | 56 | 57 | -------------------------------------------------------------------------------- /sslrules.adoc: -------------------------------------------------------------------------------- 1 | :imagesdir: images/ 2 | 3 | = Rules of the RoboCup Small Size League 4 | {docdate} 5 | :toc: 6 | :toclevels: 4 7 | 8 | // add icons from fontawesome in a up-to-date version 9 | ifdef::backend-html5[] 10 | ++++ 11 | 12 | ++++ 13 | endif::backend-html5[] 14 | 15 | :icons: font 16 | :numbered: 17 | 18 | NOTE: References to the male gender in the rules with respect to referees, team members, officials, etc. are for simplification and apply to both males and females. 19 | 20 | include::chapters/introduction.adoc[] 21 | 22 | include::chapters/playingenvironment.adoc[] 23 | 24 | include::chapters/robots.adoc[] 25 | 26 | include::chapters/gamestructure.adoc[] 27 | 28 | include::chapters/refereecommands.adoc[] 29 | 30 | include::chapters/ballleavesthefield.adoc[] 31 | 32 | include::chapters/scoringgoals.adoc[] 33 | 34 | include::chapters/offenses.adoc[] 35 | 36 | include::chapters/substitution.adoc[] 37 | 38 | include::chapters/shootout.adoc[] 39 | 40 | include::chapters/emergencystop.adoc[] 41 | 42 | include::chapters/challengeflag.adoc[] 43 | 44 | include::chapters/rulechanges.adoc[] 45 | 46 | include::chapters/appendix.adoc[] 47 | --------------------------------------------------------------------------------