[A. Snodgrass]

The rule on corner incursions deals both with unintentional and intentional incursions into the corner goals. I did notice that at the PNW regional, most times when a corner goal incursion occured, it could at least be assumed that the robot wasn't entering the goal on purpose.
That being said, a lot of the corner goal incursions occured either because of bendable mechanisms going in or front bumpers going in too far into the goal, sometimes as a result of other robots pushing from behind. I think I would ask though, what do the teams define as "intentional" incursion of the goals beyond the obvious you made your mechanism so it actually goes into the goal and thats how it effectively dumps balls into there.
For reference Im posting the current version of the rule on incursion into the corner goals.
G21- "Incidental incursion into the corner goal that occurs as a result
of a ROBOT pushing balls into the goal is permitted, not to exceed a distance of approximately 3 inches. Intentional incursion, for example to use a ball gathering mechanism to drop off balls inside the goal, or extending a portion of the ROBOT through the goal opening to activate the ball counting system, will result in disqualification of the offending ROBOT." For unintentional incursion, the penalty that was indicated was 5 points.