Does it meet the criteria

[mathking]

It is certainly scored in my view.

from 3.1.4
A BALL is considered SCORED in an ALLIANCE’S GOAL if
A. a ROBOT causes one (1) of their ALLIANCE’S BALLS to cross completely and remain completely through the opening(s) of one (1) of their ALLIANCE’S GOALS without intervening TEAM member contact,
B. the ALLIANCE ROBOT last in contact with the BALL was entirely between the TRUSS and their ALLIANCE’S HIGH GOALS, and
C. the BALL is not in contact with any ROBOT from that ALLIANCE.

There is no question that a robot caused one of their alliances balls to go into the goal, that the last alliance robot in contact was between the truss and the goal and the ball was not in contact with a robot.

As for possession?

After some thought, I think yes. In my refereeing experience, we would have called the other side for possessing the opposing alliances' ball in the same situation of one blue robot pushing another blue robot to herd a red ball. So it should be a possession when you are doing it to your own ball.