First draft of the challenge with humanoid

.gitignore

@@ -24,3 +24,4 @@
 
 SPL-Rules.pdf
 SPL-Challenges.pdf
+Pass-Masters-Bridging-the-Leagues.pdf

Pass-Masters-Bridging-the-Leagues.tex

@@ -0,0 +1,206 @@
+% !TeX spellcheck = en_US
+\documentclass[12pt]{article}
+
+\usepackage{times,fullpage,xspace,fancyhdr,url,color}
+\usepackage[pdftex]{graphicx}
+\usepackage[pdftex,
+            colorlinks=true,
+            urlcolor=black,
+            linkcolor=black,
+            citecolor=black,
+            bookmarksopen=false,
+            bookmarksnumbered=true,
+            pdfstartview=FitH]{hyperref}
+
+\pdfcompresslevel=9
+\newcommand{\leaguename}{RoboCup Standard Platform League (NAO) }
+\hypersetup{
+ pdftitle={Pass Masters: Bridging the Leagues},
+ pdfauthor={Technical Committee SPL},
+}
+\usepackage{microtype}
+\usepackage[utf8]{inputenc}
+\usepackage{amsmath}
+\usepackage{xargs}
+\usepackage[colorinlistoftodos,prependcaption,textsize=tiny]{todonotes}
+\usepackage{siunitx}
+\usepackage[capitalize,noabbrev]{cleveref}
+\usepackage[official]{eurosym}
+\usepackage[useregional]{datetime2}
+\usepackage{subcaption}
+\usepackage{enumitem}
+\usepackage{xcolor}
+\DTMlangsetup[en-GB]{ord=raise,monthyearsep={,\space}}
+
+\newcommandx{\unsure}[2][1=]{\todo[linecolor=red,backgroundcolor=red!25,bordercolor=red,#1]{#2}}
+\newcommandx{\change}[2][1=]{\todo[linecolor=blue,backgroundcolor=blue!25,bordercolor=blue,#1]{#2}}
+\newcommandx{\info}[2][1=]{\todo[linecolor=green,backgroundcolor=green!25,bordercolor=green,#1]{#2}}
+\newcommandx{\improvement}[2][1=]{\todo[linecolor=Plum,backgroundcolor=Plum!25,bordercolor=Plum,#1]{#2}}
+
+
+\usepackage[theorems]{tcolorbox}
+\newtcbtheorem[number within=section]{hintbox}{}%
+{colback=red!10,colframe=red!45!black,fonttitle=\bfseries}{th}
+
+\include{common/spl_variables}
+\include{common/spl_dates}
+
+\sloppy
+\newcommand{\ie}{\mbox{i.\,e.}\xspace}
+\newcommand{\eg}{\mbox{e.\,g.}\xspace}
+%\newcommand{\cf}{\mbox{cf.}\xspace}
+\newcommand{\cf}{see\xspace}
+% \newcommand{\comment}[1]{\marginpar{\pdfannot width 4in height .5in depth 8pt {/Subtype /Text /Contents (#1)}}}
+\newcommand{\inparagraph}[1]{\paragraph{#1\hspace{-1em} }}
+
+
+% some colors
+\definecolor{orange}{rgb}{1,0.5,0}
+\definecolor{red}{rgb}{1,0,0}
+\definecolor{green}{rgb}{0,1,0}
+
+
+\title{\leaguename\\RoboCup Soccer Humanoid League (HL)
+\\Pass Masters: Bridging the Leagues}
+\author{RoboCup SPL-HL Technical Committee}
+\date{(\RCYear SPL-HL Challenge, as of \today)}
+
+\setlength{\parindent}{0pt}
+\setlength{\parskip}{12pt plus 6pt minus 3 pt}
+\setcounter{tocdepth}{1}
+\widowpenalty=10000
+\clubpenalty=10000
+
+\pagestyle{fancy}
+\lhead{}
+\chead{}
+\rhead{}
+\lfoot{}
+\cfoot{}
+\rfoot{}
+
+\renewcommand{\headrulewidth}{0.4pt}
+\renewcommand{\footrulewidth}{0.4pt}
+
+% needed to align an image and text correctly side by side
+\newcommand{\imagebox}[1]{\raisebox{2ex}{\raisebox{-\height}{#1}}}
+
+\begin{document}
+
+\maketitle
+\thispagestyle{empty}
+
+\begin{center}
+Questions or comments on the challenge should be submitted via \url{https://github.com/RoboCup-SPL/Rules/issues}, to the \texttt{\#rule-book} channel on the SPL Discord server, or by mail both \url{[email protected]} and \url{[email protected]}.
+\end{center}
+
+\newpage
+
+
+\thispagestyle{fancy}
+
+\clearpage
+
+\cfoot{\thepage}
+\setcounter{page}{1}
+
+
+\section{Idea of the Challenge}
+Teamwork is a crucial aspect of soccer, and passing the ball between teammates is a fundamental component of successful collaboration.
+This challenge is designed to encourage teams to develop effective offensive passing strategies while fostering cooperation between robots from different leagues.
+
+The challenge involves two robots from the Standard Platform League (SPL) and two robots from the Humanoid League (HL).
+One robot from each league will form a cooperative team, while the other two robots will act as static obstacles.
+Each obstacle robot will face the attacking robot from the opposite league.
+
+The objective for the attacking robots is to complete as many successful passes as possible within a five-minute period.
+To promote collaboration, the challenge aims to maximize the number of attempts, enabling teams to cooperate with as many participating teams from the other league as possible.
+However, the exact number of attempts will be determined closer to the competition, based on the available schedule and time constraints.
+\begin{figure}[ht]
+\includegraphics[width=0.95\linewidth]{figs/ch_2_full.jpg}
+\caption{Setup using the standard SPL field. The red zones are for attacking robots, and the blue zone for defending robots. }
+\label{ch2:zone96}
+\centering
+\end{figure}
+
+\section{Field Setup}
+This challenge will be conducted on a standard SPL field.
+The challenge requires three virtual zones shown in Figure \ref{ch2:zone96}.
+The red zones represent area available to attacker robots. The blue zone represents the area where the defender robots are placed.
+The three zones should be made clearly visible to observers including the referee, by demarcating them on the field through the use of a green tape. The tape must not break the regular white field lines.
+Robots must localize using the regular filed lines.
+The ball used must be from the Humanoid league, featuring a dark-and-white patterned design.
+
+\section{Network communication}
+The two attacking robots must be connected to the GameController.
+Direct network-based communication between the robots is prohibited.
+However, other forms of natural communication, such as visual signal or sound is allowed.
+
+\section{Robots positioning}
+The defending robots must be turned on and stay in a standing position facing the attacking from the other league.
+They must remain in the same static position toward the attempt.
+The starting robot's positions are identified by the points ${A,B,C,D,E,F,G,H,I}$ in Figures \ref{ch2:zone96}.
+The robot's positions are:
+
+\textbf{Standard SPL field} the reference frame of each point is put in the lower left corner of the corresponding area.
+\\
+$A = G = (0.6m, 1.8m)$
+\\
+$B = H = (1.2m, 1.2m)$
+\\
+$C = I = (1.8m, 0.6m)$
+\\
+$D = (0.6, 0.55m)$
+\\
+$E = (1.2m, 0.55m)$
+\\
+$F = (1.8m, 0.55m)$
+\\
+\\
+
+One attacking robots is randomly placed in A, B, or C, and the other attacking robot randomly at G, H, or I.
+One attacking robot is randomly selected to start with the ball.
+The defenders are positioned randomly D, E, or F.
+See Figure \ref{ch2:zone96}.
+In case of fallen robots, if the robot is not able to get up by itself, the team can request a fallen robot from the GameController.
+This will obviously result in a penalization for the robot and a possible time loss for the team.
+
+\section{Challenge Execution}
+For each attempt the attacking robots must be connected to GameController.
+Before each attempt, GameController is set to Initial.
+After the robots are positioned, the GameController changes to Ready state and then Set.
+The attempt commences using the referee whistle and GameController process, as in typical SPL games.
+
+The attacking robots pass the ball back-and-forth as often as possible until the attempt ends.
+The attacking robots must remain within their red zones throughout the attempt.
+A robot is considered inside its red zone if any part of the robot remains within the virtual plane of the zone.
+
+If the ball leaves the red zones and comes to a full stop, the cooperative teams get one possibility of resetting the ball.
+The ball must be placed approximately 30 cm in front of the last attacking robot that touched the ball.
+
+An attempt ends when:
+\begin{enumerate}
+    \item The timeout is reached,
+    \item The defenders touch the ball,
+    \item One attacking player leave its red zone.
+\end{enumerate}
+
+Each team may make three attempts at the challenge however, they cannot modify their code between the attempts.
+
+\section{Passing definition}
+\label{sec:pass-definition}
+A successful pass is defined as meeting all the following criteria:
+\begin{enumerate}
+    \item The ball has been touched by two attacking robots.
+    \item The ball moved more than one meter from its starting position.
+    \item The ball crosses the blue zone so that is starts and ends in different red zones.
+    \item The ball stops moving in a red zone.
+\end{enumerate}
+
+\section{Scoring and Overall Ranking}
+One point is awarded for each successful pass (\cf Section~\ref{sec:pass-definition}). The referee will count and adjudicate successful passes.
+The score for an attempt is the total number of successful passes.
+
+Teams are ranked overall based on their score, from the highest to the lowest.
+
+\end{document}