G21 - Incursion into the Corner Goal

[FRC45]

Per G21, it says that "incidental" incursion into the goal is ok, so long as it doesn't go past 3inches. It says "intentional" incursion results in a DQ.

What is the penalty for incidental incursion beyond 3inches, as I don't see it specified? Is it considered a safety violation, or would it be a DQ also? (I am not sure if inspection is supposed to look for designs which can incur beyond 3in to help prevent this.)

Thanks,

[GDC]

Robots should be designed and driven to stay completely out of the corner goals. The approximately 3" buffer was instituted so that refs didn't have to split hairs to determine whether or not incursion had occured, and give the benefit of the doubt to the teams. Any incursion that is beyond 3" is likely to interfere with the scoring system, is potentially unsafe, and will result in disqualification.

[FRC45]

Due to some penalty calls at 1st week regionals, we'd like to have this cleared up before next regionals so that refs can make calls correctly.

Regarding incidental incursion beyond 3" into the corner goals, will there be a DQ for either team if BlueBot pushes RedBot into Redbot's corner goal such that they pass beyond the 3" allowance?
It seems at some regionals there was no call made in this situation.

Also, there are some regionals calling 5pt penalties for corner goal incursion. Nowhere does it say 5pt penalty for anything relating to the corner goal.

Based on the rules and Q/A here is what I've gathered:
- Incursion into goal less than 3" - no penalty
- Intentional incursion into corner goal, beyond 3" - DQ
- Unintentional incursion into corner goal, beyond 3" - DQ

Is that correct? And if so, what team if any, will get a penalty for pushing their opponent into the corner goal such that they go beyond 3"?
Thanks.

[GDC]

Please refer to Team Update #15 and the revised version of Rule <G21>, including the associated commentary. This rule clarification supercedes all prior versions.