Soccer is a complex game, characterized by a dynamic environment with a variety of situations, some of them, considered as non-repetitive, where a team should act cooperatively and respond to the dynamics of the game. This paper proposes and evaluates a set of motions (basic plays) that define an initial level of skills for the individual players of a robotic soccer team, where each player may participate as an individual or as a cooperative team member. The skills take into account issues related to offensive and defensive situations in a game. Several tests are presented to show the performance of a robot soccer team applying the motions proposed.