Last weekend I was over at a tournament where the head referee ruled that possessing a mobile goal and defending a mobile goal in the positive corner was illegal and counted as double possession. An image describing this is shown below
The robot is holding a goal and defending one in the corner
We tried looking in the game manual and Q&A for anything about this but found nothing. We have an upcoming tournament and would like to debate this with an official ruling.
This is not illegal. In order for a robot to possess a mobile goal, it must be fully supporting the mobile goal, so the goal in the corner does not count toward possession. This is explicitly stated in rule and the definition of possession in the game manual.
Possession – A Robot / Scoring Object status. A Scoring Object is considered Possessed by a Robot if a Robot’s change in direction would result in controlled movement of the Scoring Object. This typically requires at least one of the following to be true:
The Scoring Object is fully supported by the Robot.
The Robot is moving the Scoring Object in a preferred direction with a concave face of the Robot (or inside of a concave angle formed by multiple mechanisms/faces of the Robot).
The Robot is holding the Scoring Object against the Floor or a Field Element.
The corner goal is absolutely not being possessed as pictured. If you want an official ruling you should post this on the Offical Q&A.