Official Q&A: VRC 2022-2023: Spin Up

Q and A 1265 states:

A Robot that cannot cross the Barrier in that configuration has taken a calculated design risk, whether consciously or accidentally. Neither of your scenarios or images should be considered Trapping in Spin Up.

However, if a Robot's wheels are parallel to the Barrier, and an opposing Robot is restricting their movements by pushing them against the Barrier, that may be considered a Trap at the Head Referee's discretion based on the other actions of both Robots

G15 states:

A Robot may not Trap an opposing Robot for more than five seconds (0:05) during the Driver Controlled Period.

G3 states:

When reading and applying the rules in this document, please remember that common sense always applies in the VEX Robotics Competition.

1. How do holonomic drives (X drive, mecanum drive, Y drive, and H drive) count when determining parallel or perpendicular to the barrier?

2. How far should the wording calculated design risk be taken, and what differentiates the ruling in these scenarios?

   a. A blue robot with a 4 motor drive robot is pinned with their wheels perpendicular to the field perimeter by a red robot with a 6 motor drive of the same speed. Is this trapping as the robot took the calculated design risk to not have as much torque?

   b. A blue robot with a standard tank drive is pinned with their wheel parallel to the perimeter by a red robot. Is this trapping as the blue robot took the calculated design risk to not to be able to strafe?

   c. A 17.5 inch wide blue robot is constrained to a small corner of the field by a red robot blocking their path out. The red robot leaves a gap of 17 inches. Is this trapping as the blue robot took the calculated design risk to have a wider robot?

   d. A 17.5 inch tall blue robot is constrained to a small corner of the field by a red robot blocking their path out. There is a gap for the blue robot to escape, but the roller is in this gap. Is this trapping as the blue robot took the calculated design risk to no be short enough to fit under the roller?

3. What other design risks do teams need to consider that are not listed in the manual (nowhere in the manual does it list any advantage to be able to drive over the low goal)?

4. Given the fact that the low goal barriers are known to tear field tiles if hit hard or constantly pushed on, is a game strategy that involves trapping opposing robots against the barrier a violation of S1?