Going to expand slightly: In order to get a G206, you’d need to agree with the other alliance to violate rules–and more specifically rules that give an RP for violations. There’s only one rule that gives an RP if violated this year, G424.
You can talk with your opponents all you like about the coopertition button, when you’re pressing it, all that fun stuff. (Or even that you have no intention of pressing it.) No penalty.
Sorry, you’re correct. I was looking at an older version of the manual where the G206 blue box referred to deliberately feeding notes to your opponents. Looks like that changed in team update 3.
No it does not, A good source I found early on this season was FIRST Q&A, I believe a very similar question was asked on there and was answered the same as everyone else is replying here. Here is a very similar question I was able to pull FIRST Q&A Q.23, and it goes over many similar rules this question was in concern of breaking. (G203, G204, G205)