Merge branch 'master' into restart

.github/workflows/ci.yml

@@ -8,7 +8,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - name: LaTeX linter (chktex)
-        uses: j2kun/chktex-action@1.0.3
+        uses: j2kun/chktex-action@v2.0.0
         # Provide this output for context, but don't fail builds
         continue-on-error: true
         env:
@@ -22,7 +22,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        document: [organization, rulebook, scoresheets]
+        document: [rulebook, scoresheets]
 
     steps:
     - uses: actions/checkout@v4
@@ -36,6 +36,7 @@ jobs:
     - name: LaTeX compilation
       run:
         TERM=xterm make ${{ matrix.document }}
+
     - name: Upload build result
       uses: actions/upload-artifact@v4
       with:
@@ -53,11 +54,6 @@ jobs:
       with:
         ref: gh-pages
 
-    - name: Download organization
-      uses: actions/download-artifact@v4
-      with:
-        name: organization
-        path: ${{ runner.temp }}/organization
     - name: Download rulebook
       uses: actions/download-artifact@v4
       with:
@@ -68,20 +64,19 @@ jobs:
       with:
         name: scoresheets
         path: ${{ runner.temp }}/scoresheets
+
     - name: Preparations for GitHub Pages
       if: github.ref_name == github.event.repository.default_branch
       env:
         ARTIFACTS_PATH: ${{ runner.temp }}
       run: |
         # Make sure directories exist
         cd "${GITHUB_WORKSPACE}"
-        mkdir -p organization
         mkdir -p rulebook
         mkdir -p scoresheets
         FILENAME=${GITHUB_REF_NAME}
         # Strip out any extra slashes in the rest
         FILENAME=${FILENAME//\//\_}.pdf
-        mv ${ARTIFACTS_PATH}/organization/organization.pdf organization/${FILENAME}
         mv ${ARTIFACTS_PATH}/rulebook/rulebook.pdf rulebook/${FILENAME}
         mv ${ARTIFACTS_PATH}/scoresheets/scoresheets.pdf scoresheets/${FILENAME}
     - name: Commit and push to GitHub Pages

.github/workflows/release.yml

@@ -11,7 +11,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - name: LaTeX linter (chktex)
-        uses: j2kun/chktex-action@1.0.3
+        uses: j2kun/chktex-action@v2.0.0
         # Provide this output for context, but don't fail builds
         continue-on-error: true
         env:
@@ -30,15 +30,13 @@ jobs:
     - name: Allow for file ownership conflicts with Docker and GitHub Actions
       run: git config --global --add safe.directory '*'
 
-    - name: LaTeX compilation Organization
-      run:
-        TERM=xterm make organization
     - name: LaTeX compilation Rulebook
       run:
         TERM=xterm make rulebook
     - name: LaTeX compilation Score sheets
       run:
         TERM=xterm make scoresheets
+
     - name: Create Release
       id: create-release
       uses: softprops/action-gh-release@v2
@@ -48,6 +46,5 @@ jobs:
         generate_release_notes: false
         token: ${{ secrets.GITHUB_TOKEN }}
         files: |
-          .build/organization.pdf
           .build/rulebook.pdf
           .build/scoresheets.pdf

CHANGELOG.md

@@ -11,6 +11,9 @@ All notable changes to this project will be documented in this file.
 
 ## Rulebook [Current Draft]
 
+* [#920](https://github.com/RoboCupAtHome/RuleBook/pull/920): DSPL: Allow a mounted microphone on hsr.
+* [#922](https://github.com/RoboCupAtHome/RuleBook/pull/922): Remove Bonus for perceived social intelligence as the survey was too hard to conduct in Robocup settings.
+* [#917](https://github.com/RoboCupAtHome/RuleBook/pull/917) revert: split document into Rulebook and Organization document
 * [#887](https://github.com/RoboCupAtHome/RuleBook/pull/887): Remove Social Standard Platform League. 
   * The League does have a low number of participants. 
   * Former SSPL Teams can participate in the OPL and thus modify the Robot.

README.md

@@ -6,7 +6,6 @@ RuleBook for RoboCup @Home 2025
 ### PDF Downloads
 
 [Rulebook](https://robocupathome.github.io/RuleBook/rulebook/master.pdf)  
-[Organization guidelines](https://robocupathome.github.io/RuleBook/organization/master.pdf)  
 [Score sheets](https://robocupathome.github.io/RuleBook/scoresheets/master.pdf)  
 
 The current version for 2025 is **draft**

build.sh

@@ -4,8 +4,8 @@ IMAGE=docker.io/texlive/texlive:TL2022-historic
 
 if command -v podman >/dev/null 2>&1
 then
-    podman run --rm --net=none -w /data/ -v`pwd`:/data -e TERM=xterm-256color $IMAGE make all
+    podman run --rm --net=none -w /data/ -v`pwd`:/data -e TERM=xterm-256color $IMAGE make rulebook scoresheets
 else
-    docker run --rm --user="$(id -u):$(id -g)" --net=none -w /data/ -v`pwd`:/data -e TERM=xterm-256color $IMAGE make all
+    docker run --rm --user="$(id -u):$(id -g)" --net=none -w /data/ -v`pwd`:/data -e TERM=xterm-256color $IMAGE make rulebook scoresheets
 fi
 

documents/rulebook.tex

@@ -56,18 +56,17 @@
 
 \input{pages/rulebook/Introduction}
 
-%\input{roadmap/CompetitionConcepts}
+\input{pages/roadmap/CompetitionConcepts}
 
 \input{pages/rulebook/GeneralRules}
 
-%\input{Setup}
+\input{pages/organization/Setup}
 
 
 
 %%% STAGE I
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-\chapter{Tests in Stage I}
-\label{chap:stage_I}
+\chapter{Tests in Stage I}\label{chap:stage_I}
 
 \testtocentry{test:carry-my-luggage}
 \testtocentry{test:gpsr}

pages/general_rules/ContinueRules.tex

@@ -89,7 +89,7 @@ \subsection{Bypassing Automatic Speech Recognition}
 	\item \textbf{QR Codes:} A reduction of 30\% of the maximum attainable score is applied when a QR code is used to instruct the robot.
 
 	\item \textbf{Alternative Input Method:} A reduction of up to 30\% of the maximum attainable score is applied when a \iterm{alternative HRI interface}, is used to instruct the robot.
-	Alternative HRI interfaces (see~\refsec{rule:asralternative}) must be previously approved by the TC during the Robot Inspection (see \Organisation).
+	Alternative HRI interfaces (see~\refsec{rule:asralternative}) must be previously approved by the TC during the Robot Inspection (see~\refsec{sec:robot_inspection}).
 \end{enumerate}
 
 

pages/general_rules/ExternalDevices.tex

@@ -17,7 +17,7 @@ \section{External devices}
 \subsection{On-site External Computing}
 
 Computing resources that are not physically attached to the robot are considered \ExternalComputing{} resources.
-The use of up to five \ExternalComputing{} resources is allowed, but only in the \ArenaNetwork{} (see \Rulebook) and with a prior approval of the TC.
+The use of up to five \ExternalComputing{} resources is allowed, but only in the \ArenaNetwork{} (see~\refsec{rule:scenario_wifi}) and with a prior approval of the TC.
 Teams must inform the TC about the use of any \ExternalComputing{} at least one month before the competition.
 Note, however, that robots must be able to operate safely even if \ExternalComputing{} is unavailable.
 

pages/general_rules/Organization.tex

@@ -1,6 +1,5 @@
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-\section{Organization of the Competition}
-\label{sec:procedure_during_competition}
+\section{Organization of the Competition}\label{sec:procedure_during_competition}
 
 \subsection{Stage System}\label{rule:stages}
 
@@ -120,18 +119,15 @@ \subsection{Schedule}
 	\label{tbl:schedule}
 \end{table}
 
-\noindent Note that the actual allocation of blocks will be announced by the OC during the \SetupDays{} (see Table \ref{tbl:schedule}).
+\noindent Note that the actual allocation of blocks will be announced by the OC during the \SetupDays{} (see Table~\ref{tbl:schedule}).
 
-\subsection{Scoring System}
-\label{rule:score_system}
+\subsection{Scoring System}\label{rule:score_system}
 
 Each task has a main objective and a set of bonus scores.
 To score in a test, a team must successfully accomplish the main objective of the task; bonuses are not awarded otherwise.
 
 The scoring system has the following constrains:
 \begin{enumerate}
-	\item \textbf{\SONE:} The maximum total score per task in \SONE{} is \scoring{1000 points}.
-	\item \textbf{\STWO:} The maximum total score per task in \STWO{} is \scoring{2000 points}.
 	\item \textbf{\FINAL:} The final score is normalized.
 	\item \textbf{Minimum score:} The minimum total score per test in \SONE{} and \STWO{} is \scoring{0 points}.
 	In principle, teams cannot receive negative points, except if they receive penalties.

pages/general_rules/PenaltiesBonuses.tex

@@ -41,45 +41,6 @@ \subsection{Bonus for outstanding performance}\label{rule:outstanding_performanc
 	\item It is the decision of the \iaterm{Technical Committee}{TC} if (and to which degree) the bonus score is granted.
 \end{enumerate}
 
-\subsection{Bonus for perceived social intelligence}\label{rule:perceived_intelligence}
-\begin{enumerate}	
-    \item For the test \iterm{Receptionist} in \iterm{Stage~I} and, \iterm{Restaurant} in \iterm{Stage~II} tests. Teams are evaluated on the robot's perceived social intelligence 
-     performance
-
-    \item This bonus, ranging from 0 to 50, depends on the robot's social performance which will be assessed by Referees using a specially designed scale in a survey.
-
-    \item The survey evaluates how the robot recognizes, adapts to, and predicts emotions, behaviors, and cognitions. Each component is assessed through several questions, scored on a scale from 1 to 5, where 1 represents "strongly disagree" and 5 represents "strongly agree." The questions used for evaluation include:
-    \begin{itemize}
-        \item This robot notices human presence
-        \item This robot enjoys meeting people
-        \item This robot recognizes individual people
-        \item This robot notices when people do things
-        \item This robot adapts effectively to different things people do
-        \item This robot anticipates people's behavior
-        \item This robot tries to be helpful
-        \item This robot is trustworthy
-        \item This robot cares about others
-        \item This robot tries to hurt people
-        \item This robot knows if someone is part of a social group
-        \item This robot thinks it is better than everyone else
-        \item This robot adapts its behavior based upon what people around it know
-        \item This robot is impolite
-        \item This robot is socially competent
-    \end{itemize}
-    Detailed information can be found in this \href{https://ipip.ori.org/PSIManualSeptember2018.pdf}{manual}.
-
-    \item In each evaluation, the score for every question is summed up and then normalized as follows:
-    \[ x' = N \cdot \frac{{x - x_{\text{min}}}}{{x_{\text{max}} - x_{\text{min}}}} \]
-
-    Here, \( N \) is the normalizing factor (50), \( x \) is the sum of scores for each question in the current evaluation, \( x_{\text{min}} \) is set to 15 (since there are 15 questions), and \( x_{\text{max}} \) is set to 75 (as the maximum score for each question is 5).
-
-    \item The final score is calculated as the average of individual evaluator scores.
-
-    \item The referee has the authority to skip the social assessment test if they believe the robot's performance is not suitable for measurement.
-
-    \item After the test is completed, the evaluators will fill out the form, and the scores will be automatically recorded in this \href{https://urjc-my.sharepoint.com/:x:/g/personal/juan_pena_urjc_es/Eb4WyP1H4-FCqeW-qVZ3mF0BRzBR1Cn-J5ltluy90fhTJQ?rtime=guRqYF483Eg}{spreadsheet}.
-\end{enumerate}
-
 % Local Variables:
 % TeX-master: "../Rulebook"
 % End:

pages/general_rules/Procedure.tex

@@ -91,31 +91,39 @@ \subsection{Removal of robots}
 \end{enumerate}
 
 
-\subsection{Start signal}\label{rule:start_signal}
+\subsection{Start Signal}\label{rule:start_signal}
 The default \iterm{start signal} (unless stated otherwise) is \iterm{door opening}.
 Other start signals are allowed but must be authorized by the \iaterm{Technical Committee}{TC} during the Robot Inspection (see~\refsec{sec:robot_inspection}).
 
 \begin{enumerate}
-	\item \textbf{Door opening:} The robot is waiting behind the door, outside the \Arena{} and accompanied by a team member.
-	The test starts when a referee (not a team member) opens the door.
-
-	\item \textbf{Start button:} If the robot is not able to automatically start after the door is open, the team may start the robot using a start button.
-	\begin{enumerate}[nosep]
-		\item It must be a physical button on the robot (e.g., a dedicated one or releasing the eStop).
-		\item It is allowed to use the robot's contact/pressure sensors (e.g., pushing the head or an arm joint).
-		\item Using a start button needs to be announced to the referees before the test starts.
-		\item There may be penalties for using a start button in some tests
-	\end{enumerate}
-
-	\item \textbf{Ad-hoc start signal:} Other means of triggering robot to action are allowed but must be approved by the \iaterm{Technical Committee}{TC} during the Robot Inspection (see~\refsec{sec:robot_inspection}).
-	These include:
-	\begin{itemize}[nosep]
-		\item QR Codes
-		\item Verbal instructions
-		\item Custom HRI interfaces (apps, software, etc.)
-	\end{itemize}
-	\textbf{Remark:} There may be penalties for using Ad-hoc start signals in some tests. The use of mouses, keyboards, and devices attached to ECRA computers is strictly forbidden.
-
+    \item \textbf{Door opening:} The robot is waiting behind the door, outside the \Arena{} and accompanied by a team member.
+    The test starts when a referee (not a team member) opens the door.
+
+    \item \textbf{Start button:} If the robot is not able to automatically start after the door is open, the team may start the robot using a start button.
+    \begin{enumerate}[nosep]
+        \item It must be a physical button on the robot (e.g., a dedicated one or releasing the eStop).
+        \item It is allowed to use the robot's contact/pressure sensors (e.g., pushing the head or an arm joint).
+        \item Using a start button needs to be announced to the referees before the test starts.
+        \item There may be penalties for using a start button in some tests.
+    \end{enumerate}
+
+    \item \textbf{Ad-hoc start signal:} Other means of triggering the robot to action are allowed but must be approved by the \iaterm{Technical Committee}{TC} during the Robot Inspection (see~\refsec{sec:robot_inspection}).
+    These include:
+    \begin{itemize}[nosep]
+        \item QR Codes
+        \item Verbal instructions
+        \item Custom HRI interfaces (apps, software, etc.)
+    \end{itemize}
+    \textbf{Remark:} There may be penalties for using Ad-hoc start signals in some tests. The use of mouses, keyboards, and devices attached to ECRA computers is strictly forbidden.
+
+    \item \textbf{No penalties for physical constraints (HSR only):} 
+    In cases where a physical issue, such as a door bump, impedes the league's ability to ensure a standard start signal with full safety for the HSR robot, penalties will not be imposed. The following guidelines apply:
+    \begin{itemize}[nosep]
+        \item The team must document the physical issue and notify the committee prior to the Robot Inspection.
+        \item The issue must be reviewed and approved by the league's rules committee.
+        \item An alternative start method will be determined on-site in consultation with the committee.
+    \end{itemize}
+    This rule ensures fairness and flexibility while addressing unavoidable physical challenges during league operations.
 \end{enumerate}
 
 \subsection{Restart Rule}
@@ -131,6 +139,7 @@ \subsection{Restart Rule}
 \end{itemize}
 
 
+
 \subsection{Entering and leaving the \Arena{}}
 \label{rule:start_position}
 \begin{enumerate}

pages/general_rules/Robots-SPL.tex

@@ -16,6 +16,7 @@ \subsubsection{Authorized DSPL Modifications}
 Furthermore, teams are allowed to attach the following devices to either the \HSR{} or the laptop in the \MountingBracket:
 \begin{itemize}
 	\item \textbf{Audio}: A USB audio output device, such as a USB speaker or a sound card dongle.
+	    \item \textbf{Microphone}: A USB or AUX external microphone. Wireless microphones are not allowed.
 	\item \textbf{Wi-Fi adapter}: A USB-powered IEEE 802.11ac (or newer) compliant device.
 	\item \textbf{Ethernet Switch}: A USB-powered IEEE 802.3ab (or newer) compliant device.
 \end{itemize}

pages/general_rules/Scenario.tex

@@ -108,7 +108,7 @@ \subsection{Objects}
 Some tests in the RoboCup@Home league involve recognizing and manipulating objects (see Figure~\reffig{fig:scenario_objects}).
 The TC will compile a list of at least \NumObjects objects for this purpose; the list will contain a picture of the each object, as well as its official name and \ObjectCategory{} (for instance, an \textit{Apple} belongs to the \textit{Fruits} category).
 Most objects are likely to be lightweight and easy to grasp with one hand.
-Every \ObjectCategory{} has an assigned \PredefinedLocation, where objects of that category can usually be found during tests (for example, an \textit{Fruits} can be found on the \textit{Kitchen Table}); assignments are announced during the \SetupDays{} (see \Organisation).
+Every \ObjectCategory{} has an assigned \PredefinedLocation, where objects of that category can usually be found during tests (for example, an \textit{Fruits} can be found on the \textit{Kitchen Table}); assignments are announced during the \SetupDays{} (see~\refsec{chap:setup_and_preparation}).
 
 Objects are provided at the competition for training.
 Teams may keep at most five training objects at a time and for at most one hour.
@@ -177,15 +177,15 @@ \subsection{Predefined Rooms and Locations}
 
 Some tests in the RoboCup@Home league involve a \PredefinedLocation{} where people or objects can be found.
 There will also be at least two \Term{doors}{Arena doors}, named an \Entrance{} and an \Exit, which lead in and out of the \Arena{}, respectively.
-Room names, predefined locations, and location classes are announced during the \SetupDays{} (see \Organisation).
+Room names, predefined locations, and location classes are announced during the \SetupDays{} (see~\refsec{chap:setup_and_preparation}).
 
 \subsection{Predefined Person Names}
 \label{rule:scenario_names}
 
 Some tests in the RoboCup@Home league involve memorizing a person's name.
 All people in the \Arena{} have an assigned \PredefinedName{} chosen by the TC.
 The list of names contains \SI{25}{\percent} male, \SI{25}{\percent} female, and \SI{50}{\percent} gender-neutral names taken from the list of most commonly used names in the United States.
-Predefined names are announced during the \SetupDays{} (see \Organisation).
+Predefined names are announced during the \SetupDays{} (see~\refsec{chap:setup_and_preparation}).
 
 \subsection{Wireless network}
 \label{rule:scenario_wifi}

pages/introduction/Infrastructure.tex

@@ -11,7 +11,7 @@ \section{Infrastructure}
 \label{sec:introduction:mailinglist}
 The official \AtHome{} mailing list can be found at\\
 \href{mailto:[email protected]}{\small\texttt{[email protected]}}.
-You can subscribe to the mailing list at: {\small\url{http://lists.robocup.org/cgi-bin/mailman/listinfo/robocup-athome}}
+You can subscribe to the mailing list at: {\small\url{https://lists.robocup.org/mm/lists/robocup-athome.lists.robocup.org/}}
 
 \paragraph{RoboCup@Home Web Page}
 \label{sec:introduction:webpage}