Is it a problem to touch the high goal more than 3 seconds while descoring? The robot will go forward while touching, it won’t stop on a point
GDC doesn’t really care about touching high goals (I assume you mean long goals?) as long as you aren’t clamping to them or damaging them. They really only care about the “reaching into open portions of the goal”, which is what I think you’re trying to say.
there is no rule against touching the goal except clamping, just teams prefer not to as it could make descoring harder and less smooth and you might get stuck easier
So what exactly is goal keeping? I mean I know what it is I just don’t know what makes up characteristics of goal keeping. Touching the goal? Not moving?
Read the manual and it will tell you.
Goalkeeping is basically every time your robot is between the plastic parts of a goal without moving blocks. An easy way to visualize this area is to take a c channel and run it along the plastic part of the goal. Any part under the c channel is in the goal. Most of the time refs will warn you when you are goalkeeping and give you some time to stop which is why it is not called that often.