There are no rules against descoring mobile goals in the 5 point zone. These mobile goals can be descored even with cones on them so long as the cones themselves are not descored. This could cause up to a 10 point loss for the team that had its mogo descored in that they have lost the 5 points and could potentially lose a 5 point high stack bonus.
You cannot descore mobile goals from the 10 or 20 point zones per the following:
<SG10> Robots may not contact the opposing Alliance’s
10 Point Zone or 20 Point Zone .
a. Robots may not contact an opposing Robot that is contacting opposing Robot’s 10 Point Zone, 20 Point Zone , or Starting Bar .
Minor violations of this rule that do not affect the Match will result in a warning. Match Affecting offenses will result in a Disqualification. Team s that receive multiple warnings may also receive a Disqualification at the Head Referee’s discretion.
<SG15> Scoring Objects cannot be used to accomplish actions that would be otherwise illegal if they were attempted by Robot mechanisms.
At my last tournament, the head ref said it was legal for my mogo lift design (which uses two C-channels to slide around the outside of the MG with a 4bar lift to pick it up) to contain enemy mobile goals, but to be careful with picking them up because then that’s a REALLY gray area. My coach is skeptical.
This ruling may help some of you with MG lifts or defensive robots.