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An ALLIANCE may not pin an opponent ROBOT for more than five (5) seconds. A ROBOT will be considered pinned until the ROBOTS have separated by at least six (6) ft. The pinning ROBOT(S) must then wait for at least three (3) seconds before attempting to pin the same ROBOT again. Pinning is transitive through other objects.
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If we follow standard GDC logic, 'pin' in G29 is not capitalized so it is not a term defined in the glossary. Usually when someone asks a Q&A question about that, the GDC will refer them to a plan English dictionary definition; they tend to use dictionary.com -- the definition given there is
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To hold fast in a spot or position (sometimes followed by down): The debris pinned him down.
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By that, T-Bone pinning is considered a pin. I think this is a good time for a Q&A, and I'm surprised it hasn't been asked earlier.