Does anyone know if we can steal game pieces from the other team?
There are penalties for touching another robot inside their HAB ZONE, but I believe if you can get in and out, it’s possible.
Are there any rules prohibiting such action?
The game pieces are not alliance specific. You can take possession of any game piece (limited to one at a time). Keep in mind you cannot remove a scored game piece and there are limits as to where humans and robots are allowed to go.
Pay attention to G10.
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For reference:
@Jared_Russell is right, it would be hard to steal a game piece without extending outside your perimeter, but if you smashed into the balls in the HAB ZONE and then herded them one at a time back to your side, it would be possible.