[EricH]

Originally Posted by jmartin

The way I interpret it, if your robot starts in the goalie zone, then the only carpet it may contact is carpet in the goalie zone. Therefore, the robot may extend outside of the goalie zone, as long as it doesn't touch any carpet outside the goalie zone.

Correct. That rule has been revised twice, from "completely in" to "only contacting carpet" to "the only carpet contacted".