PLEASE read the rules.
It is not stated as "illegal" but it won't score any points.
From 4.3.1 - Definitions (emphasis added)
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HANGING – A ROBOT is considered HANGING from the Pull-Up Bar if it is directly SUPPORTED by the horizontal bar and is not touching the carpet, platforms, or goals.
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and from 4.4.1 - Scoring
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<G03> A ROBOT HANGING from the Pull-Up Bar at the end of a match is worth 50 points.
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