[robocup-humanoid] Return from a temporal absence

[Alejandro Malo Tamayo]

Hi TC
The substitution procedure is discussed in 3.2. But you have put part of it in 5.9,  at least the reentry part of the procedure. There was a helpful reference, in my opinion, to 5.9 in 3.3 12.3.3 12.4.7 but in the current version it has been strikethrough.
Best regards
Alejandro Malo

Control Automático/Cinvestav
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alexmalo at ctrl.cinvestav.mx