Prevent illegal position for a returning robot (#156)

rules/forbidden_actions.tex

@@ -76,6 +76,7 @@ \subsubsection{Before and During Kick-off}
 
 If a robot violates the positioning restrictions made in \cref{sec:kick-off} at the time the \texttt{set} state starts, it will be penalized and removed for \qty{15}{\second}.
 If a robot enters the areas of the other team before the ball is in play, it will be penalized and removed according to the standard removal penalty.
+A robot making reasonable effort to return to the field from a standard penalty must not be penalized for illegal position.
 
 \subsubsection{Own Goal Area}
 \label{sec:ip_own_goal_area}

rules/game_process.tex

@@ -263,6 +263,8 @@ \subsection{Kick-off}
   \item Both teams are also subject to restrictions on the goal area (\cf~\cref{sec:ip_own_goal_area}).
 \end{itemize}
 All robots that do not reach legal positions before the \texttt{set} state begins or enter illegal positions before the ball is in play will be penalized with the ``Illegal Position'' penalty~(\cf \cref{sec:ip_kick_off}).
+An exception applies to robots making reasonable effort to return to the field from a standard penalty and must not be penalized for illegal position.
+
 
 A referee places the ball on the center mark.
 If the ball is moved by one of the robots during the \texttt{set} state, it is placed back by one of the referees.