Picking up ball and G26-1
 

G26-1 states:

At today's practice match, an inbounded ball ended up against the opponents low goal. Unless you are very careful, the bot may break the plane of the opponent's low goal while trying to get the ball.

I think there should be an exception to G26-1 when:
1) Robot is trying to pick up its alliance's ball;
2) Breaking of the plane is incidental to picking up the ball; and
3) The breaking of the plane does not interfere with the other alliance attempt to score.

In the event of a violation where #1 and #2 apply, and #3 is violated, the opposing alliance is awarded the low score (and bonus points - truss, catch, assist, etc.), and if the ball is still on the field, another cycle is deemed to have begun.

There is a similar problem with rule G21. If the ball is against the edge of the field, if the robot comes to the ball perpendicular to the field edge, the ball retriever may extend past the ball and over the edge of the field.

I can appreciate the spirit of G26-1 and G21, but the design of the game makes that type of infraction easy to do, but not a real hazzard.

Re: Picking up ball and G26-1
 

This is something I noticed happening at the Fembots Scrimage, and it largley depends on the robot.

If you design a good intake, then it shouldn't be hard to avoid this, although having your human player throw far away from the goal will help.