There are two teams; the blue team, and the yellow team. Each team is comprised of two robots. There are two mushrooms on either side of the fields, with kick plates as the closest actuator to the conveyor belt. then there is at the center of the field the twister actuator, followed by the arch activators. Cornered by the start spots of the robots, there is the ball & chain actuator. One thing to keep in mind is that the arch actuators are on the opposite side of the field.