Penalties in Rugby Union include (but are not limited to my recalled list):
offsides
playing the ball on the ground
high/dangerous tackling
leaving your feet in a ruck
not throwing the ball in straight in a line-out
feigning a throw in a line-out
using hands to play the ball in a ruck/scrum (unless the player is the scrum half)
forward pass
playing the ball forward with any part of the body other than the player's leg/foot (referred to as a 'knock on')
not releasing the ball upon being tackled
entering a ruck/maul from the side
collapsing a maul
wheeling a scrum
making a play on a player without possession of the ball
shielding the ball after being tackled (no attempt by grounded player to leave ruck)
There are entirely different laws in the sport of Rugby League
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In Rugby an infringement is when a players has broken the rules of play. E.g. tackled another player on their head.