What is considered a catch

A Blue bot on one side of the truss throws the ball over the truss to a Blue aliance member that is actively being defended from said catch by red defender.

The ball goes into the red bot, whats the call ? The Blue throwing bot is aware of the increased possibility that the ball will go into the red bot, but attempts the throw regardless.

Is the Red bot penalized ? If yes, why would the Red bot accept the risk involed in defending the throw?