Are there endurance course guidelines?

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Yes.  The amount of obstacles for the endurance course leaves room for a lot of freedom to the course designer.  The following, however, is required:
  • The endurance course is comprised of 12 obstacles
  • Of the 12 required obstacles, 3 must be either balance or agility
  • Of the remaining 9 obstacles, at least 7 (but up to all 9) must fit the FINA upper body obstacle requirements.