[Edxu]

Remove the limitation on robots crossing Neutral Zone plane during autonomous. This encourages teams to develop more complicated autonomous programs that reflect the level of competition that should be at IRI.

Remove the height limitation of 4'6 in your own courtyard. This makes actual courtyard defense viable, and gives cheesecaking options.

If a boulder is in the way of a robot's defense crossing (eg in the low bar), don't penalize them for pushing it through. This eliminates those awkward situations where you have to outtake your ball and take the defense ball because of a weird case in the rules.