Could you please confirm whether the attached score of 91 points is considered legal? Based on Keep Scoring Objects in the Field and Scenario 10 in 2664: Clarification on SC3 and SG4 : Robot Events," it appears to be valid, but I’d appreciate your confirmation.
@JoeJoe Rule SG4c states: “Leaving the Field” means that a Scoring Object is outside of the Field Perimeter, no longer in contact with the Floor or Field Elements, and not supported by Robots or Scoring Objects that are still inside the Field.
Did some digging. the score for the stack in that image is 91 points.
it breaks down like this:
6 connected pins: 6 points
1 connected beam: 10 points
three 3-color stack bonuses: 45 points
three matching goal bonuses: 30 points
this specific setup is often called a 91-point cactus. it gets three matching goal bonuses because each of the three stacks is connected to the gray beam. since each stack contains a red pin, an orange pin, and the gray beam, they all qualify for the 15-point 3-color bonus.
The only confusion is that part of the beam is outside the perimeter, though it is not touching the perimeter and is supported/touching a scoring object. The confusion was created when one of the team members witnessed that judges at state competition were not convinced and further discussion was happening for some other team. hence thought to check here.