I think the rule you're looking for is G4:
Quote:
G4 DRIVE TEAMS may not extend any body part into the FIELD during the MATCH. Momentary encroachment through the hole in the HUMAN PLAYER STATION behind the BRATTICE while placing a BOULDER into that hole is an exception to this rule.
Violation: FOUL. Violations of this rule are likely to escalate to YELLOW or RED CARDS rapidly (i.e. the threshold for egregious or repeated violations is relatively low)
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The tunnel part of the EMBRASURE is not inside the FIELD, so it can be touched. But don't stick your hand through into the field.