The international RoboCup competition has, in the past, been described as “a treasure trove of rich diversity for research issues and interdisciplinary connections” [1]. This description is often credited to the facets of the federation itself, which hosts a variety of challenges for rescue robots, robots for service at home and in industrial environments, and, most prominently, robots that play soccer, in different sizes and formats, be they simulated, wheeled, or legged.