Proposed wording for updated rules on inbounding:
<Proposed G21> ROBOTS may not extend outside the HUMAN PLAYER BARRIER.
The current rule prohibits extension beyond the SAFETY ZONE. The HP barrier is the 20" wide zone above the field perimeter pipes.)
<Proposed G40> TEAMS may not extend any body part into the FIELD during the MATCH.
The current rule prohibits reaching beyond the SAFETY ZONE.
G41 (no HP/robot contact, no HP/Ball/Robot contact) should remain as is.
This would make the HP barrier a "transition/neutral zone" where either robots or HP's could reach, but there could be no contact between them. You still couldn't lay a ball directly into a robot.
I think the same objective could be accomplished by re-defining the SAFETY ZONE to match the HUMAN PLAYER BARRIER.