diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index f523936..e12635e 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -14,6 +14,10 @@ jobs: docker run -v $(pwd):/documents mrshu/texlive-dblatex .ci/tex-to-pdf.sh rules docker run -v $(pwd):/documents asciidoctor/docker-asciidoctor .ci/adoc-to-tex.sh superteam_rules docker run -v $(pwd):/documents mrshu/texlive-dblatex .ci/tex-to-pdf.sh superteam_rules + docker run -v $(pwd):/documents asciidoctor/docker-asciidoctor .ci/adoc-to-tex.sh ball_specification + docker run -v $(pwd):/documents mrshu/texlive-dblatex .ci/tex-to-pdf.sh ball_specification + docker run -v $(pwd):/documents asciidoctor/docker-asciidoctor .ci/adoc-to-tex.sh soccer_field_specification + docker run -v $(pwd):/documents mrshu/texlive-dblatex .ci/tex-to-pdf.sh soccer_field_specification mkdir -p dist/${GITHUB_REF#refs/heads/}/ rm tmp_* cp -R ./media *.html *.pdf dist/${GITHUB_REF#refs/heads/}/ diff --git a/ball_specification.adoc b/ball_specification.adoc new file mode 100644 index 0000000..42a470a --- /dev/null +++ b/ball_specification.adoc @@ -0,0 +1,134 @@ +[appendix] +[[technical-specification-for-pulsed-soccer-ball]] +== Technical Specification for pulsed Soccer Ball + +[[pulsed-preamble]] +=== Preamble + +Answering to the request for a soccer ball for RCJ tournaments that would be +more robust to interfering lights, less energy consuming and mechanically more +resistant, the Soccer League Committee defined the following technical +specifications with the special collaboration from EK Japan and HiTechnic. + +Producers of these balls must apply for a certification process upon which they +can exhibit the RCJ-compliant label and their balls used in RCJ tournaments. + +Balls with these specifications can be detected using specific sensors but +also common IR remote control receivers (TSOP1140, TSOP31140, GP1UX511QS, +etc. - on-off detection with a possible gross indication of distance). + +[[pulsed-specifications]] +=== Specifications + +[[ir-light]] +==== IR light + +The ball emits infra-red (IR) light of wavelengths in the range 920nm - 960nm, +pulsed at a square-wave carrier frequency of 40 kHz. The ball should have +enough ultra-bright, wide-angle LEDs to minimize unevenness of the IR output. + +[[pulsed-diameter]] +==== Diameter + +The diameter of the ball is required to be 74mm. A well-balanced ball shall be +used. + +[[pulsed-drop-test]] +==== Drop Test + +The ball must be able to resist normal gameplay. As an indication of its +durability, it should be able to survive, undamaged, a free-fall from 1.5 +meters onto a hardwood table or floor. + +[[pulsed-modulation]] +==== Modulation + +The 40 kHz carrier output of the ball shall be modulated with a trapezoidal +(stepped) waveform of frequency 1.2 kHz. Each 833-microsecond cycle of the +modulation waveform shall comprise 8 carrier pulses at full intensity, followed +(in turn) by 4 carrier pulses at 1/4 of full intensity, four pulses at 1/16 of +full intensity and four pulses at 1/64 of full intensity, followed by a space +(i.e. zero intensity) of about 346 microseconds. The peak current level in the +LEDs shall be within the range 45-55mA. The radiant intensity shall be more +than 20mW/sr per LED. + +[[pulsed-battery-life]] +==== Battery Life + +If the ball has an embedded rechargeable battery, when new and fully charged it +should last for more than 3 hours of continuous use before the brightness of +the LEDs drops to 90% of the initial value. If the ball uses replaceable +batteries, a set of new high-quality alkaline batteries should last for more +than 8 hours of continuous use before the brightness of the LEDs drops to 90% +of the initial value. + +[[pulsed-coloration]] +==== Coloration + +The ball must not have any marks or discoloration that can be confused with +goals, or the field itself. + +[[official-suppliers-for-pulsed-balls]] +=== Official suppliers for pulsed balls + +Currently, there is one ball that has been approved by the +Soccer League Committee: + +- RoboCup Junior Soccer ball operating in MODE A (pulsed) made by EK Japan/Elekit (https://elekit.co.jp/en/product/RCJ-05R) + +Note that this ball was previously called RCJ-05. While you may not be able to +find a ball with this name anymore, any IR ball produced by EK Japan/Elekit is +considered to be approved by the Soccer League Committee. + +[appendix] +[[passive-ball-spec]] +== Technical Specification for passive Soccer Ball + +[[passive-ball-spec-preamble]] +=== Preamble + +In order to push the state of the art in the Soccer competition forward, +while also trying to bridge the gap between the Junior and Major leagues, the +Soccer League Committee chose a standard orange golf ball as the "passive" ball. +This is the same choice as the Small Size League makes footnote:[See the SSL +rules at https://robocup-ssl.github.io/ssl-rules/sslrules.html#_ball] and since +these balls are standardized, they should be cheap and easy to get anywhere +around the globe. + +[[specifications]] +=== Specifications + +[[passive-diameter]] +==== Diameter + +The diameter of the ball is required to be 42mm +- 1mm. + +[[passive-drop-test]] +==== Drop Test + +The ball must be able to resist normal gameplay. As an indication of its +durability, it should be able to survive, undamaged, a free-fall from 1.5 +meters onto a hardwood table or floor. + +[[passive-coloration]] +==== Coloration + +The ball shall be of orange color. Since the definition of the orange color in +general is not easy, any color that a human would deem to be orange and is +substantially different from the other colors used on the field is acceptable. +While tournament organizers may supply matte balls to improve camera vision, +teams must still be prepared to play with the balls supplied by +tournament organizers. + +[[passive-surface]] +==== Surface + +Engravings and printed labels on the ball’s surface are tolerated. +The the ball should not have +a soft-touch finish. Teams must be prepared to play with balls as supplied +by tournament organizers. + +[[passive-weight]] +==== Weight + +The weight of the ball should be 46 grams (+- 1 gram). \ No newline at end of file diff --git a/general-rules b/general-rules index b188a04..ca28387 160000 --- a/general-rules +++ b/general-rules @@ -1 +1 @@ -Subproject commit b188a04ccf50baf4829a9f46af59395e37b385c8 +Subproject commit ca28387a7e6668ba958e9954a73de827e497bae1 diff --git a/preamble.tex b/preamble.tex index 6a05ddc..8eb4a31 100644 --- a/preamble.tex +++ b/preamble.tex @@ -26,7 +26,7 @@ \usepackage{lastpage} \usepackage{changes} \usepackage{etoolbox} -\usepackage{draftwatermark} +%\usepackage{draftwatermark} \let\openbox\relax \usepackage[letterpaper, margin=1in, headheight=47pt]{geometry} @@ -42,9 +42,9 @@ \usepackage[defaultsans]{droidsans} \renewcommand{\familydefault}{\sfdefault} -\SetWatermarkText{Draft} -\SetWatermarkScale{2.3} -\SetWatermarkAngle{70} +%\SetWatermarkText{Draft} +%\SetWatermarkScale{2.3} +%\SetWatermarkAngle{70} % Set paragraph numbers correctly (skip susubsection) \setcounter{secnumdepth}{4} @@ -78,13 +78,13 @@ %\renewcommand{\topmargin}{-20pt} \rfoot{Page \textbf{\thepage} of \textbf{\pageref{LastPage}}} -\lfoot{\textit{Draft rules as of \today}} +\lfoot{\textit{Final rules as of \today}} \cfoot{} % First page \fancypagestyle{firststyle}{% \fancyhf{} - \fancyfoot[L]{\textit{Draft rules as of \today}} + \fancyfoot[L]{\textit{Final rules as of \today}} \fancyfoot[R]{Page \textbf{\thepage} of \textbf{\pageref{LastPage}}} \fancyhead[R]{\includegraphics[width=8cm]{media/image15.png}} } diff --git a/rules.adoc b/rules.adoc index f7148eb..3a1ffce 100644 --- a/rules.adoc +++ b/rules.adoc @@ -67,7 +67,7 @@ signal. Robots may weigh up to 1.4 kg, may have a ball-capturing zone of up to 3.0 cm. * *Soccer Open* is played using a passive, brightly colored orange -ball. Robots may weigh up to 2.2 kg, may have a ball-capturing zone of up to +ball. Robots have no weight restriction and may have a ball-capturing zone of up to 1.5 cm. IMPORTANT: A large part of the overall ranking (for the international tournament, @@ -100,19 +100,6 @@ Detailed changes are listed below and link to the corresponding place in the rul {+-~TOC-CHANGES~-+} -[discrete] -=== Construction and Programming have to be performed exclusively by the students - -Robots must be constructed and programmed exclusively by student members of the -team. Mentors, teachers, parents or companies should not be involved in the -design, construction, assembly, programming or debugging of robots. To avoid -possible disqualification, it is extremely important that -teams abide by <>, especially <> -and <>, and all other competitor’s rules. - -If in doubt, please consult with your Regional Representative before -registering your team. - [[gameplay]] == GAMEPLAY @@ -170,7 +157,7 @@ have been placed, except if the referee requests to adjust their placement to make sure that the robots are placed properly within the field positions. On the referee’s command (usually by whistle), all robots will be started -immediately by each captain. Any robots that are started early will be removed +immediately. Any robots that are started early will be removed by the referee from the field and deemed damaged. Before a kick-off, *all damaged or out-of-bounds robots* are allowed to return to @@ -267,8 +254,8 @@ neutral spot. If a robot touches a wall or moves completely into the penalty area it will be called for being `*out of bounds*`. When this situation arises, the -robot is given a one-minute penalty, and the team is asked to remove the robot -from the field. There is no time stoppage for the game itself. The robot is +robot is removed from the field for a one-minute penalty. +There is no time stoppage for the game itself. The robot is allowed to return if a kick-off occurs before the penalty has elapsed. The one-minute penalty starts when the robot is removed from play. @@ -283,19 +270,6 @@ A referee can waive the penalty if the robot was accidentally pushed out of bounds by an opposing robot. In such a case, the referee may have to slightly push the robot back onto the field. -The ball can leave and bounce back into the playing field. The referee calls -`*out of reach*`, and will move the ball to the nearest unoccupied neutral spot -when one of the following conditions occurs: - -1. the ball remains outside the playing field too long, after a visible and -loud count footnote:[usually a count of three], - -2. any of the robots are unable to return it into the playing field (without -their whole body leaving the playing field), or - -3. the referee determines that the ball will not come back into the playing -field. - [[damaged-robots]] === Damaged robots @@ -311,17 +285,12 @@ power, etc.). * it turns over on its own accord. Computers and repair equipment are not permitted in the playing area during -gameplay. Usually, a team member will need to take the damaged robot to an -"approved repair table" near the playing area. A referee may permit robot +gameplay. A referee may permit robot sensor calibration, computers and other tools in the playing area, only for the 5 minutes before the start of each half. After a robot has been fixed, it will be placed on the unoccupied neutral spot -furthest from the ball, facing its own goal. A robot can only be returned to -the field if the damage has been repaired. If the referee notices that the -robot was returned to the field with the same original problem, they may ask -the robot to be removed and proceed with the game as if the robot had not been -returned. +furthest from the ball, facing its own goal. *Only the referee decides whether a robot is damaged.* A robot can only be taken off or returned with the referee’s permission. @@ -362,35 +331,9 @@ the field untouched. The referee may decide whether the game will be continued/resumed from the situation in which the game was stopped or by a kick-off. -[[team]] -== TEAM - -[[team-regulations]] -=== Regulations - -A team must have more than one member to form a RoboCupJunior team to -participate in the international competition. Team member(s) and/or robot(s) cannot -be shared between teams. - -Each team member needs to carry a technical role. - -Each team must have a *captain*. The captain is the person responsible -for communication with referees. The team can replace its captain -with another team member during -the competition. Each team is allowed to have at most two members beside the -field during gameplay: they will usually be the captain and an -assistant team member. - [[robots]] == ROBOTS -[[number-of-robots-substitution]] -=== Number of robots / substitutions - -Each team is allowed to have at most two robots for the full tournament. -The substitution of robots during the competition within the team or -with other teams is forbidden. - [[robots-interference]] === Interference @@ -421,15 +364,7 @@ be confirmed by the tournament organizers if a claim is placed by the other team === Control & Communication The use of remote control of any kind is not allowed during the match. Robots -must be started and stopped manually by humans and be controlled autonomously. - -Robots are not allowed to use any kind of communication during gameplay unless -the communication between robots is via Bluetooth class 2 or class 3 -footnote:[range shorter than 20 meters] or via any other device that -communicates using the 802.15.4 protocol (e.g., ZigBee and XBee). - -Teams are responsible for their communication. The availability of frequencies -cannot be guaranteed. +must be controlled autonomously. {++For only the World Championships, starting in Brazil 2025, use of a Communications Module is required for referees to control the robots. @@ -453,7 +388,7 @@ The dimensions of the handle may exceed the robot height limitation, but the part of the handle that exceeds this limit cannot be used to mount components of the robot. -The weight of the robot includes that of the handle. +The weight of the robot includes that of the handle. [[top-markers]] === Top Markers @@ -598,19 +533,10 @@ according to these rules, and may be assisted by a referee assistant. *During gameplay, the decisions made by the referee and/or the referee assistant are final.* -Any argument with the referee or the referee assistant can result in a warning. -If the argument continues or another argument occurs, this may result in -immediate disqualification from the game. +Only the team member(s) at the table have a mandate to freely speak to the referee(s). -Only the captain has a mandate to freely speak to the referee and/or their -assistant. Shouting at a referee and/or their assistant, as well as demanding a -change in ruling may be penalized by a warning at the referee’s -discretion. - -At the conclusion of the game, the result recorded in the scoresheet is final. -The referee will ask the captains to add written comments to the scoresheet if -they consider them necessary. These comments will be reviewed by the tournament -organizers. +At the conclusion of the game the results become final with signatures from +both teams. Disputes need to be settled before signing. [[rule-clarification]] === Rule clarification @@ -625,15 +551,12 @@ If special circumstances, such as unforeseen problems or capabilities of a robot occur, rules may be modified by the tournament organizers, if necessary even during a tournament. -[[regulatory-statutes]] -=== Regulatory statutes - -Each RoboCupJunior competition may have its own regulatory statutes to define -the procedure of the tournament (for example the SuperTeam system, game modes, -the inspection of robots, interviews, schedules, etc.). Regulatory statutes -become a part of this rule. - +[[competition-specifics]] +=== Competition specifics +Each competition (from local to international) may have adapted rules and +added specifics (scoring, interviews, tournament modes, rule variations +etc.). Check with organizers of each tournament you participate in. [[league-regulations]] == LEAGUE REGULATIONS @@ -641,19 +564,12 @@ become a part of this rule. [[league-regulations-preamble]] === Preamble -According to rule 3.8 of the RoboCupJunior Soccer Rules, each league has its -own additional regulations. They become a part of the rules. - For RoboCupJunior , there are two sub-leagues as follows footnote:[biggest differences are described in <>]: * Soccer Lightweight * Soccer Open -All team members need to be within the age range specified in -the RoboCupJunior General Rules which can be found at -http://junior.robocup.org/robocupjunior-general-rules/. - As described in <> and <>, the matches in the Soccer Open sub-league are conducted using a passive ball, whereas the matches in the @@ -674,7 +590,6 @@ robot’s dimensions must not exceed the following limits: |height | 18.0 cm ^[1]^ | 22.0 cm ^[1]^ + |weight | {~~2200 g~>No limit~~} ^[2]^ | 1400 g ^[2]^ + |ball-capturing zone | 1.5 cm | 3.0 cm + -|voltage | 48V DC / 25V AC RMS ^[3]^ ^[4]^ + |=== TIP: [0] Robot must fit smoothly into a cylinder of this diameter @@ -682,10 +597,6 @@ TIP: [0] Robot must fit smoothly into a cylinder of this diameter IMPORTANT: [2] We *strongly* encourage teams to include protection circuits for Lithium-based batteries -NOTE: [3] The voltage limit -relates to the maximum voltage at any point and any time on the robot, *not -nominal voltages*. - Ball-capturing zone is defined as any internal space created when a straight edge is placed on the protruding points of a robot. This means the ball must not enter the convex hull of a robot by more than the specified depth. @@ -700,10 +611,6 @@ to emit IR (e.g. ToF, LiDAR, IR distance sensors, IR LEDs/LASERs etc.) are not allowed and tournament organizers will require such devices to be removed or covered up. -In Lightweight, infrared light reflecting materials must not be visible. -If robots are painted, they must be painted matte. Minor parts that -reflect infrared light could be used as long as other robots are not affected. - [[regulations-limitations]] ==== Limitations @@ -711,12 +618,6 @@ A robot may use any number of cameras without restrictions on lenses, optical parts, optical systems, and total field of view. Components may be sourced in any way the team sees fit. -No voltage may -exceed 48V DC or 25V AC RMS at any time and maximum voltage must be available for -demonstration and measurement at inspections. When not in use measurement -contacts must be protected from accidental touches or short circuits. Each robot -must be designed to allow verifying the voltage of power packs and its circuits. - {--Pneumatic devices are allowed to use ambient air only.--} Kicker strength is subject to compliance check at any time during the @@ -726,25 +627,21 @@ the game is about to be restarted after a goal. If the referee strongly suspects that a kicker exceeds the power limit, they can require an official measurement. See <> for more details. -[[regulations-construction]] -==== Construction +[[regulations-construction-programming]] +==== Construction and Programming -IMPORTANT: Robots must be constructed exclusively by the student members of a +IMPORTANT: Robots must be constructed and programmed exclusively by the student members of a team. Mentors, teachers, parents or companies may not be involved in the design, construction, and assembly of robots. -For the construction of a robot, any robot kit or building block may be used as -long as the design and construction are primarily and substantially the -original work of a team. This means that commercial kits may be used but must -be substantially modified by the team. It is neither allowed to mainly follow a -construction manual, nor to just change unimportant parts. - -Indications for violations are the use of commercial kits that can basically -only be assembled in one way or the fact that robots from different team(s), -build from the same commercial kit, all basically look or function the same. +Use of robot kits is allowed only if the "soccer playing" part is done only +by the students. Kits not specifically made for Soccer can be used without +restriction but hard- or software specifically made to play soccer cannot be +used if it is not developed by the team. -Robots must be constructed in a way that they can be started by the captain -without the help of another person. +Current team members must have done a majority of the development on hard- +and software of the robot. Parts done by former team members must be +outweighed by contributions from current team members. Since a contact with an opponent robot and/or dribbler that might damage some parts of robots cannot be fully anticipated, *robots must have all its active @@ -752,45 +649,14 @@ elements properly protected with resistant materials*. For example, electrical circuits and pneumatic devices, such as pipelines and bottles, must be protected from all human contact and direct contact with other robots. -IMPORTANT: All driven dribbler gears must be covered with metal or hard plastic. - -When batteries are transported or moved, it is *strongly* recommended that safety bags be -used. Reasonable efforts should be made to make sure that in all circumstances -robots avoid short-circuits and chemical or air leaks. - -IMPORTANT: The use of swollen, tattered or otherwise dangerous battery is not -allowed. - -[[regulations-programming]] -==== Programming - -Robots must be programmed exclusively by student members of the team. Mentors, -teachers, parents or companies should not be involved in the programming and -debugging of robots. - -For the programming of the robots, any programming language, interface or -integrated development environment (IDE) may be used. The use of programs that -come together with a commercial kit (especially sample programs or presets) or -substantial parts of such programs are not allowed. It is not allowed to use -sample programs, not even if they are modified. +IMPORTANT: All dribbler gears must be covered with metal or hard plastic. [[regulations-inspections]] ==== Inspections Robots must be inspected and certified every day before the first game is played. The tournament organizers may request other inspections if necessary, -including random inspections which may happen at any time. The routine -inspections include: - -* Weight restrictions for the particular sub-league (see <>). -* Robot dimensions (see <>). -* Voltage restrictions (see <> and <>). -* Kicker strength limits, if the robot has a kicker (see <>). - -Proof must be provided by each team that its robots comply with these -regulations, for example, by a detailed documentation or logbook. Teams may be -interviewed about their robots and the development process at any time during a -tournament. +including random inspections which may happen at any time. [[international-competition]] == INTERNATIONAL COMPETITION @@ -798,8 +664,6 @@ tournament. [[international-competition-team]] === Team -Maximum team size is 4 members for RoboCupJunior Soccer. - {~~Soccer Lightweight team members can participate in the World Championship only twice. After their second participation, they need to move to Soccer Open.~>This rule has been removed from 2025 onwards.~~} @@ -819,26 +683,18 @@ https://github.com/robocup-junior/soccer-communication-module++} [[interviews]] === Interviews -During the international competition, the tournament organizers will arrange to +During the international competition, the tournament organizers may arrange to interview teams during the Setup Day of the event. This means that the teams -need to be already present early on this day. Teams must bring robots, the code -that is used to program them and any documentation to the interview. - -During an interview, at least one member from each team must be able to explain -particularities about the team’s robots, especially with regards to its -construction and its programming. An interviewer may ask the team for a -demonstration. The interviewer may also ask the team to write a simple program -during the interview to verify that the team is able to program its robot. - -All teams are expected to be able to conduct the interview in English. If this -poses a problem, the team may ask for a translator to be present at the -interview. If the tournament organizers are not able to provide a translator, the team is required -to do so. During the interview, the team will be evaluated using so called -Rubrics, which are published on the website mentioned in the beginning of these -rules. +need to be already present early on this day. + +Details on what is required for and what to expect from interviews can be +found in the scoring document available at: +https://robocup-junior.github.io/soccer-rules-entry/master/scoring.pdf +https://robocup-junior.github.io/soccer-rules-entry/master/scoring.html The Soccer League Committee recommends the implementation of interviews in regional -competitions as well, but this is not mandatory. +competitions as well, but this is not mandatory. Teams should check with tournament +organizers if and what kind of interview to expect. [[technical-challenges]] === Technical Challenges @@ -912,243 +768,7 @@ details on what Entry leagues (if any) will be running in their region. The Soccer League Committee will additionally post what it knows on the news thread on the forum -(https://junior.forum.robocup.org/t/soccer-entry-league-news-feed/2677). - -[appendix] -[[technical-specification-for-soccer-field]] -== Technical Specification For Soccer Field - -[[dimensions-of-the-field]] -=== Dimensions of the field - -The playing field is 158 cm by 219 cm. The field is -marked by a white line which is part of the playing field. Around the -playing field, beyond the white line, there is an outer area -of 12 cm in width. - -The floor near the exterior wall includes a wedge, which is an incline with a -10 cm base and 2 +/- 1 cm rise for allowing the ball to roll back into play -when it leaves the playing field. Note that the goal should not contain the -wedge. - -Total dimensions of the field, including the outer area, are 182 cm by 243 cm. - -[[field-walls]] -=== Walls - -Walls are placed all around the field, including behind the goals and the -out-area. The height of the walls is 22 cm. The walls are painted matte black. - -[[goals]] -=== Goals - -The field has two goals, centered on each of the shorter sides of the playing -field. The goal inner space is 60 cm wide, 10 cm high and 74 mm deep, box -shaped. - -The goal "posts" are positioned over the white line marking the limits of the -field. - -The interior walls and of each goal are colored matte, one goal yellow and the -other goal blue. It is recommended that the blue be of a brighter shade so that -it is different enough from the black exterior. - -[[floor]] -=== Floor - -The floor -consists of green carpet ideally of darker shade on top of a hard level surface. Teams -should be prepared to adjust to different levels of contrast between the green carpet -and lines as some events may be restricted to using lighter shades of green. All -lines on the field should be painted, marked with tape, -or installed as white carpet and be somewhat resistant to tearing or ripping. -Lines should have a width of 20mm (±10%). - -It is impractical to set international constraints on carpet other than it -being green. In the spirit of the competition, teams should design robots -to be tolerant or adaptable to different fibers, textures, construction, -density, shades, and designs of carpet especially when competing amongst different -regions. Teams are encouraged to visit regional resources or reach out to Local -Organization Committee for suggestions if desiring to build their own practice -field(s). - -[[neutral-spots]] -=== Neutral spots - -There are five neutral spots defined in the field. One is in the center of the -field. The other four are adjacent to each corner, located 45 cm -along the long edge of the field. They align with the sides of the penalty -areas. The neutral spots can be drawn with a thin black marker. -The neutral spots ought to be of circular shape measuring 1 cm in diameter. - -[[center-circle]] -=== Center circle - -A center circle will be drawn on the field. It is 60 cm in diameter. It is a -thin black marker line. It is there for Referees and Captains as guidance -during kick-off. - -[[penalty-areas]] -=== Penalty areas - -In front of each goal there is a 25 cm wide and 80 cm long penalty -area with rounded front corners (15cm radius). - -The penalty areas are marked by a white line of 20 mm (±10%) width. The -line is part of the area. - -[[lighting-and-magnetic-conditions]] -=== Lighting and Magnetic Conditions - -The tournament organizers will do their best to limit the amount of external lightning and -magnetic interference. However, the robots need to be constructed in a way -which allows them to work in conditions that are not perfect (i.e. by not -relying on compass sensors or specific lightning conditions). - -[discrete] -[[field-diagrams]] -== FIELD DIAGRAMS - -[.text-center] -image:media/SoccerFieldWedgeNoWedge.jpg[image,align=center,width=35.0%] - -[.text-center] -image:media/SoccerFieldDrawings.png[image,width=18.0%] - -[appendix] -[[technical-specification-for-pulsed-soccer-ball]] -== Technical Specification for pulsed Soccer Ball - -[[pulsed-preamble]] -=== Preamble - -Answering to the request for a soccer ball for RCJ tournaments that would be -more robust to interfering lights, less energy consuming and mechanically more -resistant, the Soccer League Committee defined the following technical -specifications with the special collaboration from EK Japan and HiTechnic. - -Producers of these balls must apply for a certification process upon which they -can exhibit the RCJ-compliant label and their balls used in RCJ tournaments. - -Balls with these specifications can be detected using specific sensors but -also common IR remote control receivers (TSOP1140, TSOP31140, GP1UX511QS, -etc. - on-off detection with a possible gross indication of distance). - -[[pulsed-specifications]] -=== Specifications - -[[ir-light]] -==== IR light - -The ball emits infra-red (IR) light of wavelengths in the range 920nm - 960nm, -pulsed at a square-wave carrier frequency of 40 kHz. The ball should have -enough ultra-bright, wide-angle LEDs to minimize unevenness of the IR output. - -[[pulsed-diameter]] -==== Diameter - -The diameter of the ball is required to be 74mm. A well-balanced ball shall be -used. - -[[pulsed-drop-test]] -==== Drop Test - -The ball must be able to resist normal gameplay. As an indication of its -durability, it should be able to survive, undamaged, a free-fall from 1.5 -meters onto a hardwood table or floor. - -[[pulsed-modulation]] -==== Modulation - -The 40 kHz carrier output of the ball shall be modulated with a trapezoidal -(stepped) waveform of frequency 1.2 kHz. Each 833-microsecond cycle of the -modulation waveform shall comprise 8 carrier pulses at full intensity, followed -(in turn) by 4 carrier pulses at 1/4 of full intensity, four pulses at 1/16 of -full intensity and four pulses at 1/64 of full intensity, followed by a space -(i.e. zero intensity) of about 346 microseconds. The peak current level in the -LEDs shall be within the range 45-55mA. The radiant intensity shall be more -than 20mW/sr per LED. - -[[pulsed-battery-life]] -==== Battery Life - -If the ball has an embedded rechargeable battery, when new and fully charged it -should last for more than 3 hours of continuous use before the brightness of -the LEDs drops to 90% of the initial value. If the ball uses replaceable -batteries, a set of new high-quality alkaline batteries should last for more -than 8 hours of continuous use before the brightness of the LEDs drops to 90% -of the initial value. - -[[pulsed-coloration]] -==== Coloration - -The ball must not have any marks or discoloration that can be confused with -goals, or the field itself. - -[[official-suppliers-for-pulsed-balls]] -=== Official suppliers for pulsed balls - -Currently, there is one ball that has been approved by the -Soccer League Committee: - -- RoboCup Junior Soccer ball operating in MODE A (pulsed) made by EK Japan/Elekit (https://elekit.co.jp/en/product/RCJ-05R) - -Note that this ball was previously called RCJ-05. While you may not be able to -find a ball with this name anymore, any IR ball produced by EK Japan/Elekit is -considered to be approved by the Soccer League Committee. - -[appendix] -[[passive-ball-spec]] -== Technical Specification for passive Soccer Ball - -[[passive-ball-spec-preamble]] -=== Preamble - -In order to push the state of the art in the Soccer competition forward, -while also trying to bridge the gap between the Junior and Major leagues, the -Soccer League Committee chose a standard orange golf ball as the "passive" ball. -This is the same choice as the Small Size League makes footnote:[See the SSL -rules at https://robocup-ssl.github.io/ssl-rules/sslrules.html#_ball] and since -these balls are standardized, they should be cheap and easy to get anywhere -around the globe. - -[[specifications]] -=== Specifications - -[[passive-diameter]] -==== Diameter - -The diameter of the ball is required to be 42mm +- 1mm. - -[[passive-drop-test]] -==== Drop Test - -The ball must be able to resist normal gameplay. As an indication of its -durability, it should be able to survive, undamaged, a free-fall from 1.5 -meters onto a hardwood table or floor. - -[[passive-coloration]] -==== Coloration - -The ball shall be of orange color. Since the definition of the orange color in -general is not easy, any color that a human would deem to be orange and is -substantially different from the other colors used on the field is acceptable. -While tournament organizers may supply matte balls to improve camera vision, -teams must still be prepared to play with the balls supplied by -tournament organizers. - -[[passive-surface]] -==== Surface - -Engravings and printed labels on the ball’s surface are tolerated. -The the ball should not have -a soft-touch finish. Teams must be prepared to play with balls as supplied -by tournament organizers. - -[[passive-weight]] -==== Weight - -The weight of the ball should be 46 grams (+- 1 gram). +https://junior.forum.robocup.org/t/soccer-entry-league-news-feed/2677. [appendix] [[kicker-power-measuring]] @@ -1169,3 +789,21 @@ The Light Weight League power test is passed if after bouncing off of the opposi the ball does not leave the penalty area of the opposing goal after bouncing back.~>The kick power test is passed if after bouncing off the opposite goal the ball does not hit the back wall of the goal the robot performed the kick power test from.~~} + +[[ball-specification]] + +The Open League plays with an orange golf ball. +The Lightweight League plays with an active IR ball. + +Details on the balls can be found in the ball specification document. +FOOTNOTE: [https://robocup-junior.github.io/soccer-rules-entry/master/ball_specification.html and +https://robocup-junior.github.io/soccer-rules-entry/master/ball_specification.pdf] + +IMPORTANT: Starting 2026 orange golf ball-sized IR balls will be used. + +[[field-specification]] + +Details on the size and construction of the field can be found in the +field specification document. FOOTNOTE:[ +https://robocup-junior.github.io/soccer-rules-entry/master/field_specification.html and +https://robocup-junior.github.io/soccer-rules-entry/master/field_specification.pdf] \ No newline at end of file diff --git a/soccer_field_specification.adoc b/soccer_field_specification.adoc new file mode 100644 index 0000000..3f7f7d5 --- /dev/null +++ b/soccer_field_specification.adoc @@ -0,0 +1,99 @@ +[appendix] +[[technical-specification-for-soccer-field]] +== Technical Specification For Soccer Field + +[[dimensions-of-the-field]] +=== Dimensions of the field + +The playing field is 158 cm by 219 cm. The field is +marked by a white line which is part of the playing field. Around the +playing field, beyond the white line, there is an outer area +of 12 cm in width. + +The floor near the exterior wall includes a wedge, which is an incline with a +10 cm base and 2 +/- 1 cm rise for allowing the ball to roll back into play +when it leaves the playing field. Note that the goal should not contain the +wedge. + +Total dimensions of the field, including the outer area, are 182 cm by 243 cm. + +[[field-walls]] +=== Walls + +Walls are placed all around the field, including behind the goals and the +out-area. The height of the walls is 22 cm. The walls are painted matte black. + +[[goals]] +=== Goals + +The field has two goals, centered on each of the shorter sides of the playing +field. The goal inner space is 60 cm wide, 10 cm high and 74 mm deep, box +shaped. + +The goal "posts" are positioned over the white line marking the limits of the +field. + +The interior walls and of each goal are colored matte, one goal yellow and the +other goal blue. It is recommended that the blue be of a brighter shade so that +it is different enough from the black exterior. + +[[floor]] +=== Floor + +The floor +consists of green carpet ideally of darker shade on top of a hard level surface. Teams +should be prepared to adjust to different levels of contrast between the green carpet +and lines as some events may be restricted to using lighter shades of green. All +lines on the field should be painted, marked with tape, +or installed as white carpet and be somewhat resistant to tearing or ripping. +Lines should have a width of 20mm (±10%). + +It is impractical to set international constraints on carpet other than it +being green. In the spirit of the competition, teams should design robots +to be tolerant or adaptable to different fibers, textures, construction, +density, shades, and designs of carpet especially when competing amongst different +regions. Teams are encouraged to visit regional resources or reach out to Local +Organization Committee for suggestions if desiring to build their own practice +field(s). + +[[neutral-spots]] +=== Neutral spots + +There are five neutral spots defined in the field. One is in the center of the +field. The other four are adjacent to each corner, located 45 cm +along the long edge of the field. They align with the sides of the penalty +areas. The neutral spots can be drawn with a thin black marker. +The neutral spots ought to be of circular shape measuring 1 cm in diameter. + +[[center-circle]] +=== Center circle + +A center circle will be drawn on the field. It is 60 cm in diameter. It is a +thin black marker line. It is there as guidance during kick-off. + +[[penalty-areas]] +=== Penalty areas + +In front of each goal there is a 25 cm wide and 80 cm long penalty +area with rounded front corners (15cm radius). + +The penalty areas are marked by a white line of 20 mm (±10%) width. The +line is part of the area. + +[[lighting-and-magnetic-conditions]] +=== Lighting and Magnetic Conditions + +The tournament organizers will do their best to limit the amount of external lightning and +magnetic interference. However, the robots need to be constructed in a way +which allows them to work in conditions that are not perfect (i.e. by not +relying on compass sensors or specific lightning conditions). + +[discrete] +[[field-diagrams]] +== FIELD DIAGRAMS + +[.text-center] +image:media/SoccerFieldWedgeNoWedge.jpg[image,align=center,width=35.0%] + +[.text-center] +image:media/SoccerFieldDrawings.png[image,width=18.0%] \ No newline at end of file