The 2021 rulebook state is Draft
Only spelling corrections and minor clarificatios may be merged from now on, as well as buffs to the scoresheets to enhance scoring.
Current PDF (master) https://okdhryk.github.io/robocup2020dspl-sumulation/Rulebook.pdf
$ ./latexdockercmd.sh pdflatex Rulebook.tex
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The Rulebook has being completely restructured for 2020 and later competitions. The new format was first tested at RoboCup JapanOpen 2020.