[robocup-humanoid] Rules adjustments for RoboCup 2019

Ludovic Hofer lhofer at labri.fr
Fri May 31 10:21:53 EDT 2019


Dear RoboCuppers,

After the German Open 2019, we have considered that it was necessary to 
bring
some small adjustments to the rulebook for the RoboCup 2019 in Sydney. 
You will find the latest
version here 
<http://www.robocuphumanoid.org/wp-content/uploads/RCHL-2019-Rules-changesMarked.pdf>.

In this mail we will describe the content of the changes, the reason 
behind the
changes and why it should not result in a major implementation change 
for the
teams.

If you have any question or concern regarding those changes, please do 
not hesitate to contact us.


See you in Sydney,

Ludovic Hofer (on behalf of RoboCup Humanoid League TC)



*Rule change 1: Invalid goal at kick-off
---------------------------------------*
- Content: When the ball is kicked directly into the goal by the team 
who has
   kick-off, before leaving the center circle, the game is restarted with a
   goal kick (previously kick-off for opposite team)
- Reason: Restarting with a kick-off would require to add specific
   manipulations on the GameController. For goal scored illegally, we 
already
   have the 'Goal kick' procedure which is applied for other cases. This 
change
   will make the rules simpler for all the referees.
- Impact on teams: Since all teams have to be prepared to perform goal 
kicks,
   the impact should be minimal and it should rather helps team by 
making less
   specific cases.

*Rule change 2: Defender distance to ball for game interruption
--------------------------------------------------------------*
- Content: The minimum legal distance between the ball and players from 
the defending
   team during game interruption is increased. The minimum distance is now
   0.75m for KidSize and TeenSize, and 1.5m for AdultSize (previously 0.5m).
   This change concerns freekicks, penalty kicks, throw-ins, goal kicks 
and corner kicks.
- Reason: During GermanOpen, we experimented more game interruptions 
during the
   games. The 0.5m distance was to small, it leads to a packing of 
robots and
   leaves few options for the attacking team.
- Impact on teams: The only impact for teams is to increase the distance 
which
   should be walked by robots during the "preparation phase". Even if we 
take
   into account 5 seconds of delay to perceive the ball. It only requires a
   moving speed of 7.5cm/s in KidSize and TeenSize and 15cm/s for AdultSize,
   those requirements are perfectly reasonable for the leagues.

*Rule change 3: Distance of penalty mark in adult size
-----------------------------------------------------*
- Content: For AdultSize only, the distance from penalty mark to the 
goal line
   has been restored to 2.1 meters.
- Reason: While we took into account the proportions between the field 
markings
   during the rule update, we underestimated the importance of the size 
of the
   robot.
- Impact on teams: All AdultSize teams should be able to kick the ball 
for more
   than 2.1 meters. The distance to be walked during penalty kicks is still
   acceptable for the robots. If teams require new images to train 
perception
   modules, they should still have enough time.



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