Regarding the rule <SG5> Robots may not intentionally or accidentally, indirectly or directly, remove Cones from an opponent’s Stack (i.e. Cones that are fully nested on an opponent’s upright Goal).
My question is will it be ok if we decore our cones from our mobile goal?

Yes, it was ruled a while back that you’re allowed to de-score cones from your own stack.

thank you