make things pretty for release 1.0

Rulebook.tex

@@ -164,13 +164,15 @@ \chapter{Tests}
 \chapter{Scoring and Ranking}
 \input{./general_rules/Scoring_and_Ranking.tex}
 
+\chapter{Technical Challenges} \label{cha:TechnicalChallenges}
+\label{cha: TCHA}
+\input{./technical_challenges/Technical_Challenges.tex}
+
 \chapter{Virtual RoboCup}
 \label{cha: VRC}
 \input{./general_rules/Virtual_RoboCup.tex}
 
-\chapter{Technical Challenges} \label{cha:TechnicalChallenges}
-\label{cha: TCHA}
-\input{./technical_challenges/Technical_Challenges.tex}
+
 
 %\chapter{Future Changes}
 %\label{cha: Future}

competition/Competition.tex

@@ -2,6 +2,7 @@
 \label{sec:Competition}
 
 \section{Teams and Roles}
+\label{sec: teams and roles}
 
 The TC and OC will jointly determine the number of teams permitted to participate in a competition well in advance. The rules shall enable a competition with up to at least 24 teams lasting not more than four full days. The number of people to register per team is not restricted by default, but may be limited due to local arrangements. Teams that plan to bring more than four members are advised to contact the OC beforehand.
 
@@ -56,7 +57,7 @@ \section{Time Schedule}
 
 \begin{figure}[h!]
 \centering
-\includegraphics[width= 0.8\textwidth ]{./images/competition/Competition_Schedule_2023.PNG}
+\includegraphics[width= 0.9\textwidth ]{./images/competition/Competition_Schedule_2023.PNG}
 \caption{Example of a time schedule for a \RCAW competition.}
 \label{fig:example_schedule}
 \end{figure}
@@ -113,6 +114,8 @@ \section{Test Procedure}
 During the prep phase, teams are allowed to move their robot from the parc ferm\'e to the defined start pose in the arena either by hand or by carefully driving manually. They should prepare their robot for their run and can therefore remote access the robot and/or make minor changes.
 It is explicitly forbidden to hardcode solutions for specific requirements of a test during this phase (e.g. drawing position of obstacles in the map). Also, if the robot passes and detects obstacles during this phase, they must be erased from the memory (e.g. clear costmap) unless they can be detected from the START location. The TC might disqualify teams that try to gain unfair advantages from the current or even the following tests.
 
+\clearpage
+
 \textbf{Run Phase}
 
 The run phase begins once the preparation time is up or when the teamleader announces that the team is ready. 
@@ -159,6 +162,8 @@ \section{Test Procedure}
 the arena must be set up for the next run if necessary.
 The prep time of the next team begins once the arena state is declared as ready by all refs.
 
+\clearpage
+
 \textbf{Performance Slot Example}
 
 \begin{figure} [h!]
@@ -170,6 +175,7 @@ \section{Test Procedure}
 \end{figure}
 
 
+
 \section{Restarting a Run}
 \label{sec:restartingarun}
 
@@ -182,13 +188,14 @@ \section{Restarting a Run}
 
 \section{Skipping Tests}
 
-If a team decides not to participate in a test during the official time slot, 
+If a team decides to not participate in a test during the official time slot, 
 they may repeat that test type once in one of the following competition slots.
-Their performance slot for the later test type is then replaced by one that suits the previously skipped test type, and they then can perform that test type instead of the originally scheduled one.
+Their performance slot for the later test type is then replaced by one that suits the previously skipped test type, 
+and they then can perform that test type instead of the originally scheduled one.
 
 This should enable struggling teams to do the more simpler tests later in the competition,
-but should only be used by teams if really necessary to keep the structure of the overall competition. 
-Therefore it is not allowed to repeat a test that has been replaced with this option.
+but should only be used by teams if it is really necessary in order to keep the structure of the overall competition. 
+It is not allowed to repeat a test that has been replaced with this option.
 
 Please note that this option might not be available at all if the schedule is too tight otherwise.
 

general_rules/Change_log.tex

@@ -9,7 +9,7 @@ \chapter{Summary of Changes}
 
 \section{Season 2023}
 
-\subsection{Restructuring of Benachmark Tests}
+\subsection{Restructuring of Benchmark Tests}
 
 The specialized tasks Precise Placement and Rotating Table have been integrated into the new Advanced Transportation Tasks and the Final.
 The standalone tests have therefore been removed from the competition schedule, effectively reducing the number of total tests by one.

general_rules/General_Design.tex

@@ -60,7 +60,7 @@ \subsection{Example Robots}
 		\subfloat{\includegraphics[width=0.31\textwidth]{./images/robots/tyrolics2.jpg}} \hfill
 		\subfloat{\includegraphics[width=0.3\textwidth]{./images/robots/robotto_bot_small.jpg}} 
 	\end{center}
-	\caption{Examples mobile robot platforms that can be used for \RCAW. Robots from the teams AutonOHM (Nuernberg-Germany), Tyrolics (Innsbruck-Austria) and robOTTO (Magdeburg-Germany) -- from left to right. }
+	\caption{Examples mobile robot platforms that can be used for \RCAW. Robots from the teams AutonOHM (Nuremberg-Germany), Tyrolics (Innsbruck-Austria) and robOTTO (Magdeburg-Germany) -- from left to right. }
 	\label{fig:example_robots}
 \end{figure}
 
@@ -371,7 +371,7 @@ \subsection{Arena Layout}
 
 \textbf{Referee Zone}
 
-The arena is enclosed by a padded strip of 1m. This area is reserved for the referees to enable them to move freely while judging a robot's performance.
+The arena is enclosed by a padded strip of 1m. This area is reserved for the referees to enable them to move freely while judging a robot's performance. See section \ref{sec: teams and roles}.
 
 
 \clearpage
@@ -482,13 +482,15 @@ \section{Objects}
 
 \subsection{Basic Object Set}
 
-The Basic Object Set includes standard profile rails, screws and nuts with various sizes and masses (see table~\ref{tab:manipulation_objects}).
+The Basic Object Set includes standard profile rails, screws and nuts with various sizes and masses.
+% (see table~\ref{tab:manipulation_objects}).
 
 \newcommand{\imageView}[1]{\includegraphics[width=2cm, valign=c]{#1}}
-{
 \newcommand{\rowpadding}{0.4cm}
 \setlength\extrarowheight{\rowpadding}
-\begin{table}[p]
+
+
+\begin{table}[h!]
 
 \begin{tabular}{|c|c|c|c|m{8cm}|}
 \hline
@@ -497,47 +499,39 @@ \subsection{Basic Object Set}
 
 \texttt{1} & \imageView{./images/F20_20_B.jpg} & \texttt{F20\_20\_B} & 49 g & Small aluminium profile \newline
  Coating/Colour: black anodized\newline
- Height: 20 mm \newline
- Width: 20 mm \newline
- Length: 100 mm \\ [\rowpadding]
+ Size: $20 \times 20 \times 100 mm$ \\ [\rowpadding]
 \hline
 
 \texttt{2} & \imageView{./images/F20_20_G.jpg} & \texttt{F20\_20\_G} & 49 g & Small aluminium profile \newline
  Coating/Colour: gray anodized\newline
- Height: 20 mm \newline
- Width: 20 mm \newline
- Length: 100 mm \\ [\rowpadding]
+ Size: $20 \times 20 \times 100 mm$ \\ [\rowpadding]
 \hline
 
-\texttt{3} & \imageView{./images/S40_40_B.jpg} & \texttt{S40\_40\_B} & 186 g & Big aluminium profile\newline
+\texttt{3} & \imageView{./images/S40_40_B.jpg} & \texttt{S40\_40\_B} & 186 g & Large aluminium profile\newline
  Coating/Colour: black anodized\newline
- Height: 40 mm \newline
- Width: 40 mm \newline
- Length: 100 mm \\ [\rowpadding]
+ Size: $40 \times 40 \times 100 mm$ \\ [\rowpadding]
 \hline
 
-\texttt{4} & \imageView{./images/S40_40_G.jpg} & \texttt{S40\_40\_G} & 186 g & Big aluminium profile \newline
+\texttt{4} & \imageView{./images/S40_40_G.jpg} & \texttt{S40\_40\_G} & 186 g & Large aluminium profile \newline
  Coating/Colour:  gray anodized\newline
- Height: 40 mm \newline
- Width: 40 mm \newline
- Length: 100 mm \\ [\rowpadding]
+ Size: $40 \times 40 \times 100 mm$ \\[\rowpadding]
 \hline
 
 \texttt{5} & \imageView{./images/M20_100.jpg} & \texttt{M20\_100} & 296 g & Screw\newline
- ISO4014, DIN 931, CSN 021101, PN 82101, UNI 5737, EU 24014 \newline
+ ISO4014, DIN 931, EU 24014 \newline
  Coating/Colour: blank, black burnished \newline
  Size: M$20\times 100$ \\ [\rowpadding]
 \hline
 
 \texttt{6} & \imageView{./images/M20.jpg} & \texttt{M20} & 56 g & Small nut\newline
- ISO4032, DIN934,  CSN 021401, PN 82144, UNI 5588, EU 24032  \newline
- Coating/Colour: blank, black burnished \newline
+ ISO4032, DIN934, EU 24032  \newline
+ Coating/Color: blank, black burnished \newline
  Size: M20 \\ [\rowpadding]
 \hline
 
-\texttt{7} & \imageView{./images/M30.jpg} & \texttt{M30} & 217 g & Big nut\newline
- ISO4032, DIN934,  CSN 021401, PN 82144, UNI 5588, EU 24032  \newline
- Coating/Colour: blank, black burnished \newline
+\texttt{7} & \imageView{./images/M30.jpg} & \texttt{M30} & 217 g & Large nut\newline
+ ISO4032, DIN934, EU 24032  \newline
+ Coating/Color: blank, black burnished \newline
  Size: M30 \\ [\rowpadding]
  \hline
 \end{tabular}
@@ -655,7 +649,7 @@ \subsection{Advanced Object Set}
 		SKF P40\newline
 		Coating/Colour: gray \newline
 		Useable with bearing\newline
-		\textbf{Remark:} needs two hex socket screw M8x10 (DIN EN ISO 4762, DIN 912, CSN 021143, PN 82302, UNI 5931) and two M8 nuts (ISO 4032, DIN 934) \newline
+		\textbf{Remark:} needs two hex socket screw M8x10 (ISO 4762, DIN 912) and two M8 nuts (ISO 4032, DIN 934) \newline
 		\href{https://www.skf.com/sg/products/mounted-bearings/ball-bearing-units/pillow-block-ball-bearing-units/productid-P%2040}{SKF}  (visited Januar 2022)\\
 		\hline
 %%%%%%%%%%%%	
@@ -734,15 +728,17 @@ \subsection{Advanced Object Set}
 \subsection{April Tagged Object Set}
 \label{ssec: April Tagged Object Set}
 
-For the season 2023 and onwards, 3D printed cubes marked with April tags might be used in the competition. Further on this cubes will be called April Tag Tagged Cubes (ATTC).
-This shall prepare the possibility to design tasks that focus on other areas than object recognition by simplifying the detection. 
-All April Tags will be $40 \si{\milli\meter} \times 40 \si{\milli\meter}$ and out of the \textit{36h11} April Tag Family, including 1bit black, 1bit white boarder as shown in fig. \ref{fig:singleAprilTag}. 
+For the season 2023 and onwards, 3D printed cubes marked with April tags might be used in the competition. 
+This should allow teams to focus on other areas than object recognition by simplifying the detection of Objects. 
+These cubes will be called April Tag Tagged Cubes (ATTC) in the following.
+
+The April Tags used in \RCAW measure $40 \si{\milli\meter} \times 40 \si{\milli\meter}$ and have an encoding taken from the \textit{36h11} April Tag family, including a 1bit black and 1bit white border as shown in fig. \ref{fig:singleAprilTag}. 
 
 
 \begin{figure}[h!]
 	\centering
 	\includegraphics[width= 0.4\textwidth ]{./images/singleAprilTAG42.png}
-	\caption{Example of an April Tag with the ID: 42 out of the 36h11-April Tag Family.}
+	\caption{Example of an April Tag with the ID 42. Encoding is from the 36h11-April Tag Family.}
 	\label{fig:singleAprilTag}
 \end{figure}
 

general_rules/Organization_of_the_League.tex

@@ -1,4 +1,5 @@
-\section{Organization of the League}\label{sec:organisation_of_the_league}
+\section{Organization of the League}
+\label{sec:organisation_of_the_league}
 
 \subsection{League Committees}
 The following list of committees is implemented for \RCAW.
@@ -51,10 +52,12 @@ \subsubsection{Organizing Committee}
 %Currently, the Research Advisory Board has no members yet.
 
 \subsection{League Infrastructure}
+\label{ssec:LeagueInfrastructure}
+
 In order to provide a forum for continuous discussions between teams and other stakeholders, the league builds and maintains an infrastructure consisting of a web site, mailing lists, and repositories for documentation, software, and data. The infrastructure is complemented by a minimum infrastructure to be built and maintained by teams, i.e. teams should eventually create their own web page to which the \RCAW League's web pages can be linked.
 
 
-\subsubsection{Infrastructure Maintained by the League} \label{ssec:LeagueInfrastructure}
+\subsubsection{Infrastructure Maintained by the League} 
 
 \paragraph{Website}
 The official website of \RCAW is at

general_rules/Participation_int_the_Competition.tex

@@ -60,7 +60,7 @@ \subsection{Team Description Paper}
 	\item applicability and relevance to industrial tasks
 \end{itemize}
 
-The team description paper should cover in detail the technical and scientific approach, while the team web site should be designed for a broader audience. Both the web site and the TDP have to be written in English. Alongside the TDP, the TC will - starting 2019 - also require a video file presenting the robot, see Section~\ref{ssec:promotional_video}. All TDPs must be written using the following template: \href{https://www.overleaf.com/latex/templates/springer-lecture-notes-in-computer-science/kzwwpvhwnvfj#.WtR5Hy5ua71}{Overleave TDP template} 
+The team description paper should cover in detail the technical and scientific approach, while the team web site should be designed for a broader audience. Both the web site and the TDP have to be written in English. Alongside the TDP, the TC will - starting 2019 - also require a video file presenting the robot, see Section~\ref{ssec:promotional_video}. All TDPs must be written using the following template: \href{https://www.overleaf.com/latex/templates/springer-lecture-notes-in-computer-science/kzwwpvhwnvfj#.WtR5Hy5ua71}{Overleaf TDP template} 
 
 \subsection{Promotional Video}
 \label{ssec:promotional_video}

general_rules/Virtual_RoboCup.tex

@@ -5,28 +5,26 @@ \section{General}
 
 Since the start of the the Covid-19 pandemic, the RoboCups could not take place in person.
 In 2021, the first virtual RoboCup was hosted online, requiring teams to livestream their robots performance in their own laboratory.
-A ruleset was created that made a fair competition possible.
-Paricipating teams have to follow a guideline to provide some infrastructure that enable the TC and OC to evaluate their performance and to communicate during the competitions.
-As the organisation of such an online event is rather new for everyone and requires extended communication, 
-every team should join the official \RCAW discord server:
-
-\href{Official Discord Server}{https://discord.gg/z6Yn6UvhxU}
+A ruleset was created that made a fair competition possible, which may be used for future online RoboCups.
 
+Participating teams have to follow the guideline to provide an infrastructure that enables the TC and OC to evaluate their performance and to communicate during the competitions.
+As the organization of such an online event is rather new for everyone and requires extended communication, 
+every team should join the official \RCAW discord server (see \ref{ssec:LeagueInfrastructure}).
 Announcements will be made via specific channels on this server.
 Please participate in discussions and ask questions if you have any.
 
 \section{Arena Setup} 
 \label{sec:VRCArenaSetup}
 
-As all teams will have different laboratory setups and some may not have the same resources (open space, workstations, etc. ) as others, no fixed arena design will be used for a virtual \RCAW. We expect that this would either exclude some teams from the competitions or limit others in their test scenario design, which is why every team can design their own arena.
+As all teams will have different laboratory setups and some may not have the same resources (open space, workstations, etc.) as others, no fixed arena design will be used for a virtual \RCAW. We expect that this would either exclude some teams from the competitions or limit others in their test scenario design, which is why every team may design their own arena.
 
 However, to ensure that the different robot performances can be compared using the existing scoring system (\ref{fig:test_specifications_instance}), some rules are defined to encourage teams to create challenging arena designs. In addition to the basic rules described in \ref{sec:ArenaDesign}, teams are required to consider: 
 
 \begin{itemize}
-\item Arena size must be atleast 4m x 2m
+\item The size of the Arena must be atleast 4m x 2m
 \item The table placements should force the robot to move around the arena (not all the tables are next to each other)
 \item Workstations should be accessible via multiple paths, so one of them may be blocked with obstacles (\ref{fig:vrc_arena_example} orange dots). Some space must be available for non-blocking obstacles (\ref{fig:vrc_arena_example} dark green dots).
-\item Tables with the heights defined in (\ref{fig:test_specifications_instance}) have to be provided (margin = 2cm). If a team doesn't have enough workstations of one type for a test, the TC may allow alternative table heights to be used (especially BTT3 and Final). This rule does not apply for the conveyor belt, the shelf and the precise placement station.
+\item Tables with the heights defined in (\ref{fig:test_specifications_instance}) have to be provided (margin = 2cm). If a team doesn't have enough workstations of one type for a test, the TC may allow alternative table heights to be used (especially BTT2, ATTs and Final). This rule does not apply for the Rotating Table, the Shelf and the Precise Placement station.
 \item PPT cavities (a)-(f) (see \ref{fig:ppt_tiles}) must be provided. Teams may 3D print the cavities using the files in the leagues github. Standing objects are excluded. It must be possible to place ${N\_PLACE + 2}$ next to each other, so that atleast two decoy cavities can be used. 
 \item Required arbitrary surfaces types: artificial grass, pvc floor / wood, mirror / aluminum foil, (plexi-)glass. 
 These can be found in your local homedepot. (See fig. \ref{fig:vrc_obst_arbi}(b))
@@ -54,6 +52,7 @@ \section{Arena Setup}
 \label{fig:vrc_obst_arbi}
 \end{figure}
 
+\section{Files required from Teams}
 
 To enable the committee to generate fair tasks for every team, teams must provide detailed information about their arena and object inventory \textbf{1 month} prior to the first competition day. A zip-folder containing the following data must be sent via our discord server:
 
@@ -74,6 +73,8 @@ \section{Arena Setup}
 The folder must be named VRC-YEAR-info-TEAM-NAME and shall contain the subfolders ARENA, OBSTACLES, OBJECT, ROBOT, TESTS, REFBOX. 
 File names must contain information about the data (e.g. Arena-Image-1) and must not have default names (e.g. IMG2012).
 
+\section{Qualification for the competitions}
+
 The TC will decide if the individual arenas qualify for the tests defined in \ref{fig:test_specifications_instance}. 
 The main requirements are already specified in \ref{sec:VRCArenaSetup}, while the table describes individual task requirements more precisely.
 

tests/BTT.tex

@@ -8,7 +8,6 @@ \section{Basic Transportation Test}
 
 There are currently two versions of the BTT. 
 They gradually introduce more elements of the league to the competition, including the randomness of the used objects, the increase of active Service Areas and them not being next to each other anymore, using different table heights and the placement of physical obstacles.
-
 The following paragraphs summarize the two different levels but DO NOT override the test specification in table \ref{fig:test_specifications_instance}.
 
 \paragraph{BTT1}

tests/Final.tex

@@ -1,3 +1,5 @@
+%\clearpage
+
 \section{Final}
 \label{sec:Final}
 

tests/Specs.tex

@@ -1,4 +1,5 @@
 % !TEX root = ../Rulebook.tex
+
 \section{Test Specification Summary}
 \renewcommand{\arraystretch}{1.1}
 \newcommand{\R}[2]{