From what I've seen -- as a spectator above the field, not as a driver or coach -- I've seen refs wave over a team member and have them adjust the robot to touch the wall or air lock, or to get it within the launch pad. I don't know how close the robot was to the wall. I think one time I've seen a ref move a robot slightly, maybe to get it within the launch pad or maybe to make sure the robot wasn't too "pre-aimed". The latter I think has been a rule for a couple of years so your autonomous wasn't too perfect.
There is no penalty -- the refs just won't allow the game to start until the field is ready.
If the game started and the robot wasn't against the wall, then the refs weren't checking very carefully. The refs get a ten point penalty.
I'll grant you that the two inches might not matter -- it's just against the rules.