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"He has no restrictions except for the fulfilment of reparations for damage to society."
Ronaldinho and Roberto will appear before a judge in Brazil every three months – the ex-Barcelona star for a year and his brother for two years.
"There is no indication that he has any personal characteristics or criminal behaviour that … would put society at risk," the prosecutor said prior to Monday’s trial.
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Ronaldinho and Roberto de Assis spent more than a month in prison before being relocated to the four-star Palmaroga Hotel after paying 1.6 million US dollars in bail.
Media reports said the brothers would fly back to Rio de Janeiro on a private plane on Tuesday.
Under terms of the deal with investigators, Ronaldinho agreed to a 90,000 US dollar fine and must report to a federal judge in Brazil every three months for two years.
"There is no indication that he has any personal characteristics or criminal behavior that ... would put society at risk," one of the prosecutors in the case said.
Assis was ordered to pay 110,000 dollars and will not be allowed to leave Brazil over a two-year period. He will also maintain a criminal record in Paraguay.
Ronaldinho, a key part of Brazil's 2002 World Cup-winning squad, and his brother were released from house arrest on Monday. While he will have to pay a $90,000 fine, his brother was fined $110,000; travel conditions were imposed on both.
Former Barcelona, Paris Saint-Germain and AC Milan forward Ronaldinho won 97 caps for Brazil between 1999 and 2013, scoring 33 times. He won the Ballon d'Or in 2005.