Simulation League


2D Rules

PC Specification of RoboCup 2010 2D Simulation League are as below:

1. Soccer Server

- Intel(R) Core(TM) i7-975 @ 3.33GHz
- 6GB (3X2GB) DDR3 SDRAM 1066MHz Memory
- 1TB SATA 3.0Gb/s Hard Drive
- 1024MB Nvidia GTX 285 Graphic Card (DVI & VGA)
- IEEE 1394
- Blu-ray Disc Drive Burner (BD/DVD/CD)
- Keyboard and USB Optical Mouse
- 24" LCD Monitor (1920x1,200)
- Integrated Gigabit Ethernet 10/100/1000

2. Clients

- Intel Core(TM) 2 Quad CPU Q8200 @ 2.33 GHz
- 4 GB RAM
- 500 GB Hard Disk
- Integrated Intel 82567LM-3 Gigabit Network NIC
- ATI Radeon HD 3400 Graphics Card 512MB
- 6 x USB Ports
- 1 x Serial Port
- 19" Wide LCD Monitor
- Keyboard & Mouse

3D Rules

RoboCup Soccer Simulation League 3D Competition Rules and Setup for the 2010 competition in Singapore:

20/06/2010 18:40: New rules, version 2010.2. Changes marked with yellow.


For all other information, keep an eye on these pages and on the whiteboard in the front of the team area. If it's not on either of these, it's not available yet.

User Account + Upload

Before receiving the user account details, each team must fill out the registration form on the whiteboard. When this is done, notify the OC and you will get your login name and password. To change your password, log into any of the computers and run:

$ yppasswd

and follow the instructions.

The team binary and all auxiliary files can be uploaded to the master file server, at ip address:

This should include two scripts, placed directly in your home directory: and The start script should start all 6 agents and should take the hostname of the server as the first argument.  An example is shown below:

# RoboCup 2010 sample start script for the 3D Simulation Competitions
killall -9 agent_binary

./agent_binary -h $1 > /dev/null &
sleep 2
./agent_binary -h $1 > /dev/null &
sleep 2
./agent_binary -h $1 > /dev/null &
sleep 2
./agent_binary -h $1 > /dev/null &
sleep 2
./agent_binary -h $1 > /dev/null &
sleep 2
./agent_binary -h $1 > /dev/null &

The kill script should kill all your agents. Example:

killall -9 agent_binary

If your team needs special libraries to run, which are not installed on the competition machines, you can notify the OC of this by giving a written/printed list of the libraries you require. However, we will only install them if doing so doesn't interfere with our other tasks. In any case we will not deal with any possible version issues, etc. So, it is best to just include the needed libraries into your upload. To see which libraries your binary depends on, run:

$ ldd agent_binary

then upload these libraries into a directory in your home directory, for instance called libs, and add the following line to your start script before the agents are started:


2D Qualification

The 2D qualification rules and schedule are listed in this PDF file. Please note that this is a first draft and may be subject to change!

3D Qualification

All teams who wish to qualify need to pre-register, before the deadline at 31 Jan 2010. To pre-register, send an E-Mail to with the subject 'Pre-registration TEAM_NAME'. The E-Mail should contain the following information:

  • Team-Name:
  • Team-Leader:
  • E-Mail:
  • Country:
  • Affiliation:
  • Number of team members:

Qualification is based on a team's current performance, previous achievements in RoboCup, and scientific contributions to the RoboCup community in past years, cooperation in the 3D mailing list and development of the simulator.

In RoboCup 2010, up to 28 teams will participate in the 3D competitions. The top three teams from RoboCup 2009 (SEU RedSun, Bold Hearts and LsuAmoyNQ) are automatically qualified after pre-registering their teams and submitting an appropriate Team Description Paper (TDP). The other 25 teams will be selected through a qualification process.

The qualification deadline is 15 Feb 2010. The OC does not accept qualification materials from teams who have not been pre-registered by the pre-registration deadline. Qualification material consists of:

1. Team Description Paper (TDP)

The TDP should describe your research focus and ideas implemented in the team. The length of the TDP has to be at least four (4) pages and should not exceed twelve (12) pages in Springer LNCS Style: Please submit the TDP only as a PDF document with the name of your team like teamname_TDP.pdf.

2. A list of contributions to previous RoboCup Symposia and your team's achievements in RoboCup events of previous years. Please do not include TDPs that you submitted to RoboCup in previous years. You may include a TDP, if you presented a talk about your team at the Symposium. If you are new to the RoboCup 3D community, you may also include references to relevant research done by your team that shows its potential. Please submit the contribution list as a PDF document with the name of your team, like teamname_list.pdf.

3. Binary

This year, to be better able to judge the performance of a team, all teams should submit a working binary instead of a logfile. The OC will use these binaries to play 3 vs 3 matches, under the rules and with the simulator used during the 2009 competitions held in Graz. These rules can be found at 3DSimulationRule20090609(pdf) or

Submitted binaries should adhere to the following:

  • Two scripts should be included: a start up script, called, to run a full team of agents and a kill script, called, to fully kill all agents of the team. The requirements and examples of these scripts can be found at the rules page given above.
  • All necessary external libraries should be included and be used locally by the binary. The OC will not take an effort to install extra libraries on the qualification systems.
  • The binaries should not create any output, be it through standard output or to files.
  • No graphical (debugging) interface should be used.
  • The binary should be compiled for 32 bit systems and should work on a modern Linux distribution (e.g. Ubuntu 9.10).

To summarize: the binary should run out of the box on a standard, clean, headless system in a restricted sand box environment with the simulation server (possibly) running on a different machine. The OC will not try to fix errors. When a binary fails to run, the respective team will be notified and will have to resubmit their material, before the deadline of 15 Feb 2010.

Please put all qualification material in a folder with your team name, create a tarball (preferably .tar.bz2) and upload it to the the ftp server below. Also E-Mail for confirmation with the subject: Qualification, 3D: TEAM_NAME. If everything went well you will receive a confirmation. If you did not receive any confirmation within two (2) days, please contact the Organizing Committee.

  • ftp server:
  • user:
  • Upload to the 'incoming' directory.

Alternatively, you can use the form at the following page to upload your material:

If you encounter any problem when uploading to the server please don't hesitate to contact the OC, we will arrange for another solution.

Teams will be qualified based on the submitted materials as described in this E-Mail. Also, the following general qualification limitations will be considered:

  • One-Third-Rule: The so called One-Third-Rule rule states that only up to 1/3 of the participants of a competition may be from the same country.
  • One-Team-Per-Institute-Rule: The One-Team-Per-Institute-Rule states that only one team from each university or research institute is allowed to participate in a competition. Note that it is okay for different teams from the same institute to participate in different competitions, e.g. 2D soccer and 3D development.


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