[Al Skierkiewicz]

Matthew,
I think these rules may cover what you are asking...

[G10]
Robots may not grab, grasp, grapple, or attach to any Arena structure. (Robots may push or react against any
elements of the Arena that is not protected by another rule.)
Violation: Foul
[G11]
Robots may not become entangled in the Arena elements.
Violation: May be disabled and will not be freed until after the Match has finished.
[G12]
Robots may not damage any part of the Arena, including Basketballs.
Violation: Potential Disablement if the Head Referee determines that further damage is likely to occur. Corrective action (such as eliminating sharp edges, removing the damaging mechanism, and/or re-Inspection) may be
required before the Robot will be allowed to compete in subsequent Matches.

Contact between your robot and the field is an expected result during competition play much as contact with other robots is expected.