Although it is illegal to “descore”, <SG9> Robots are not permitted to remove (descore) any Scoring Objects which are considered Scored by clause 1 of the definition of Scored. Violations of this rule will result in a Disqualification.
This states that you cannot descore, but if you lifted the objects up (In the goals) and got them stuck on the PVC prongs of the goals. Since they are technically breaking the plane (the ones on the top), could you descore and continue to “descore” like this?
I don’t believe this would be at all legal, as the intent of the “no ‘descoring’” rule was that no matter how many steps it took for the object to be “descored” it would still be illegal.