does the biped brat panning kit come with the Sharp GP2D12 IR Sensor?
and can the autonomous brat play soccer?
Quoted from the website.
This kit allows you to add obstacle avoidance or target acquisition to your Autonomous BRAT kit. The kit includes a 422 servo and all of the SES bracket components required to attach and pan the IR sensor. The GP2D12 sensor is included in the Autonomous BRAT kit. With this kit you will have everything required to do the Autonomous Water-Bottle Kicking Tutorial.
Soccer? No.
Sure it can! It can probably do it better than its bigger brother counterparts because it’s more stable. With a color camera and soccer playing code, the brat could be made to play soccer.
The tutorial code does not include instruction for soccer playing if that’s what you mean.
Generally soccer playing bipeds are controlled by a central PC running vision systems to control bots within the view of the system. The simple answer is no. But the best answer would be yes, with a lot of supporting hardware and software.
I thought that the soccer bots did everything locally.
An idea would be to use Marks red ball chasing rover concept, combined with a compass module, so the brat could try to kick the ball and it kick it in the right direction. Combine the two and you have a simple soccer bot. The goalie would be programmed to track the ball for blocking, using Marks tracking code. Anyway, just thinking out loud, there are many things you can do with the brat. 
Who knows, it could be the way it’s done now a days. lol