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Goal Pinning
I don't think a team should be allowed to use the goal to pin a robot.
If a robot does not handle the goals and is being pinned by a goal controlling robot holding a goal, then this is clearly the same as one robot pinning another.
If a robot does handle the goals but is not holding the goal that is being used by another robot to pin the first robot, then this is clearly the same as one robot pinning another.
If both robots are holding the goal, then I do not believe you can claim that either robot is being pinned, regardless of their position on the field.
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