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Originally Posted by 3.1.3 DEFENSES and the OUTER WORKS
A DEFENSE is CROSSED by a ROBOT when that ROBOT 1. starts free of contact with the DEFENSE and completely in the NEUTRAL ZONE 2. traverses the DEFENSE such that its BUMPERS go fully between the adjacent SHIELDS/GUARDRAIL, and 3. ends up fully contained by the opponent's COURTYARD.
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Damaging a defense is a one way deal.