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Unofficial answer
This will not be official until it comes from Martus, but I can tell you that the scoring zone carpet is 12' by 24', (and since the taped edge counts too, so it's really about 12'3" wide) .
Your goal only has to be in the scoring zone for shots from the Human Player to count: your robot does not have to wait for the goal to get into the scoring zone to put balls in. If any fraction of the goal or robot is touching the scoring zone, they are in the scoring zone.
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