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Originally Posted by dlavery
<G02> specifies that no part of the robot can extend inside a goal at the beginning of the match. But there is no restriction once the match starts.
<G20> specifies that a robot cannot go underneath a goal (i.e. under the horizontal bars at the base of the goal), but does not prohibit going inside the goal.
Remember that during the "human-bot" demonstrations during the kick-off, you actually saw a Blue Team robot driving through one of the goals during the autonomous period.
So, we must surmise that driving inside the volume of a goal after the start of a match is OK.
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Thank you Dave, now I wish some of the people who are posting on the Q/A on First website would read some of these threads first. And i am sorry for not putting in my previous post that you can uncap a non seated tetra.