[JesseK]

Originally Posted by Section 3.1.5, Endgame, <R23>

Contact (via ROBOT or GAME PIECE) with the opposing ALLIANCE‟S TOWERS is prohibited. Violation: RED CARD

Originally Posted by Section 1 of Manual, Definitions

TOWER – an assembly composed of a BASE, POST, and TARGET.

BASE – a cylindrical section approximately 30 inches in diameter by 12 inches tall at the bottom of the TOWER. The BASE is considered part of the TOWER.

DEPLOYMENT – the act of positioning a MINIBOT on a TOWER. DEPLOYMENT starts when the MINIBOT breaks the vertical projection of the TOWER BASE circumference. DEPLOYMENT ends when the HOSTBOT is no longer in contact with the MINIBOT. (Related form, DEPLOY, verb)

As I interpret it: So long as you do not touch the tower, the opposing HOSTBOT is not in contact with the tower whatsovever, AND so long as the opposing MINIBOT or HOSTBOT has not breached the planar vertical cyllinder of the BASE (regardless of any actual contact with the TOWER), then there is no penalty.

You have to fully read the definitions of all three to understand it; <R23> and <R24> should lead you there, so I think it's fairly clear.

For example,
If you pin an opponent's robot against the outside wall for 2 seconds while not touching their TOWER, then there is no penalty for <G24> or <G23> (even if they make the MINIBOT come out of their HOSTBOT while pinned during endgame, it's not a DEPLOYMENT as fully defined).

If you pin an opponent's robot against their tower during endgame, you get a red card.

If you get in the way of an opponent, they push you into their tower, and you simply stay there, you will probably get a red card even though they caused it; this is subjective to what happens next. If you even attempt to move in a way that causes them extra time in getting around you to their tower after they pushed you into it, you will definitely get a red card because at that point you're touching their tower during endgame and not attempting to get away at all. If you do not move at all, the opponent robot backs away, and you do not get out of the way, you will probably get a red card for touching their TOWER when you have the clear opportunity to NOT touch their tower. If they back away and you chase them, staying in their way, you still might get a red card since you were touching their TOWER before you decided to chase them. Q&A may have further details.

If the opponent has a long arm with their MINIBOT on the end of it, and that arm gets close to the vertical projected cylinder at all (even though their robot is still 2-3 feet away from the BASE), you will be watched -- if you're in contact with them when the arm does break the projected cylinder, you will get a red card.

Suffice it to say, it will be a risky maneuver regardless of the scenario; I would try to avoid situations where you are in the vicinity of their TOWER during ENDGAME at all.