[jspatz1]

It could be argued that for most robots, driving over the ball was not really an incursion violation anyway. If you think of the bottom of the robot in the same terms as the top of the robot, the ball could pass under the bottom without actually penetrating the frame volume by 3", just as it can roll across the top without doing so. The rule is not that the ball cannot come into a verticle projection of the frame perimeter, it is that it cannot incure a concave area of the robot by more than 3". This update is certainly welcome to clarify the intent of the rule. We may have had many penalties called in week 1 that should not have been.