[Jake177]

If you call the "space defined by the Human Player Barrier Brackets, the SAFETY Zone, and the GUARDRAIL" the BUFFER ZONE, I think the new G40 wording becomes a little easier to understand.

My Version:
BUFFER ZONE - The space defined by the Human Player Barrier Brackets, the SAFETY Zone, and the GUARDRAIL

During the MATCH, TEAMS may not extend any body part

1) in to a BUFFER ZONE that is:

A) occupied by a ROBOT
or
B) adjacent to a BUFFER ZONE occupied by a ROBOT.

or

2) beyond the GUARDRAIL at any time.

VIOLATION: TECHNICAL FOUL

This is just my personal interpretation. I believe it maintains the intent of the rule.