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A Bean Bag is scored on an L4 Goal if it meets all of the following criteria.
• No part of the Bean Bag is contacting a Robot.
• The Bean Bag is in contact with the horizontal surface that defines the L4 Goal, or is directly or indirectly supported by another Bean Bag that is in contact with that horizontal surface.
• The Bean Bag is yellow.

Figure SC5-1: Bean Bags on the L4 Goal.
• Both yellow Bean Bags are scored on the L4 Goal, as both are either in contact with the L4 Goal or supported by another Bean Bag in contact with the L4 Goal.
• The red Bean Bag is not scored on the L4 Goal, since only yellow Bean Bags can be scored on the L4 Goal.

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