The playing field was a carpeted, rectangular area with two 6 ft (2 m) high goals located midfield, one goal for each alliance. There is a 30 in (762 mm) clearance bar under each goal. Between the goals is an 8 ft (2 m) wide ramp with a 5 ft (2 m) clearance bar, which robots may hang on to score points. Around the perimeter of the field are four stations for human players, who work with remote controlled robots on the field to score points. At the start of each match, each alliance station contains seven yellow balls and one black ball. Fifteen yellow balls and two black balls are located at the far end of the playing field.