<SC3>
An Alliance Scores a Goal once a Ball is no longer in contact with a Robot and has fully passed through a Target (i.e., from the “outside” of the Goal Wall structure into the “inside” of the Goal Wall). Effectively, this should correspond with the Ball falling through the Goal Wall and landing in the Pickup Zone, and that “land in the Pickup Zone moment” can be used for most scoring needs. However, in the event of any jams or other malfunctions, the Ball is still considered Scored even if it does not touch down to the Pickup Zone. See <SG6>.