Thanks for the feedback Jasper. For any person wondering about the lines number, they refer to the document with changes marked.
L859: Vicinity of the ball
I agree that it’s currently a little bit fuzzy. We will need to clarify it. I would propose to use the same distances that are used for free-kicks and penalty kicks (0.75 in Kid and 1.5 in Adult). We need to distinguish between the two leagues anyway and it seems reasonable to ensure that robots can easily approach the ball.
I would also propose to clarify somewhere that all distances between robots and the ball are measured by taking the distance between the ball center and the convex polygon resulting of the projection of the robot to the ground. This would reduce the risks of misunderstanding and make sure the teams are not required to reverse engineer the AutoReferee to have an accurate understanding of the rules.
Initial positions (L1535-1538, L1601, L1629-1639)
I agree that L1601 should simply be replaced by “receives a removal penalty”, this is explicit enough.
Globally, initial configuration and initial height+orientation of the robots need to be defined more accurately. However, I think that the rulebook is not an appropriate location to present too much technical details. I would rather have a separate document defining the API and the interaction with the server which include this kind of specifications.
For penalizing robots, I think that there’s two different solutions:
- Let them a few seconds to move into a suitable position (while in the air)
- Have them disappear and spawn again in the initial configuration (which should be provided to the simulator if we want to allow different initial configurations than 0)