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Based on this rule, it looks like you can receive a foul on your own side of the court if you are close enough to the opposing team's alley, and the opposing team comes to your side of the court and initiates contact with your bot while still partially in contact with its own alley.
Is this interpretation correct?

If this is the case, it seems possible to me that a robot can be in contact with its own key while at the same time make contact with an opposing robot in its own alley. (There's only 59" separation between the alley and key at the minimum).
In this situation, who is assigned a penalty?? Both teams??