[Mr. Van]

I don't believe that anyone is talking about limiting a team's ability to help another team.

Perhaps we can make four distinctions:

1. Team A brings COTS and stock and helps team B with their robot. Team B competes with and against team A throughout the competition.

2. Team A brings components/mechanisms and puts them on team B's robot (most likely with team B's help). Team B competes with and against team A throughout the competition.

3. Team A brings COTS and stock and modifies/rebuilds team B's robot only because team B is (or is expected to be) part of team A's alliance.

4. Team A brings components/mechanisms and puts them on team B's robot (with team B's help) only because team B is (or is expected to be) part of team A's alliance.

I strongly encourage scenario 1, and I would be surprised if anyone would object to it. I believe that all of the positive elements of "cheesecaking" can be found in this scenario.

Things get a little (or indeed a lot) less clear in the other situations.

- Mr. Van
Coach, Robodox