Challenged Definition

[MachineSMMC]

What is everyone's take on the CHALLENGED Rule, I am having a hard time deciding what they actually mean...

A ROBOT has CHALLENGED the TOWER if, at the conclusion of the MATCH, the ROBOT is fully supported by the TOWER, but hasn’t met the criteria for SCALING the TOWER.

Support is transitive through other objects. For example, if a BOULDER
is fully supported by the BATTER, and a ROBOT is supported only by the BATTER and the BOULDER, the ROBOT is still considered fully supported by the TOWER.

Does this mean we need to be hanging from the RUNG and off the BATTER but you are not considered SCALED because you are not off the ground enough?

Thanks