How does descoring work?

[jgannon]

I must not be understanding this correctly... can someone help shed some light?

<G36> HOME STRETCH Height Restriction – ROBOTS in the HOME STRETCH of the opposing ALLIANCE can not be more than 6 feet tall. A PENALTY will be assigned for each infraction.

<G22> Direction Of Traffic – ROBOTS must proceed around the TRACK in a counter-clockwise direction. Once a ROBOT has CROSSED a LANE MARKER or FINISH LINE, it shall not break the plane of the line by moving in the clockwise direction. A PENALTY will be assigned for each infraction.

How do you ever get your ball down from the overpass overlooking your opponent's finish line? You can't even reach the overpass when you're in the opponent's home stretch, and because the edge of the overpass is aligned with the finish line, you aren't allowed to reach to the overpass once you're out of the home stretch. Do you just have to hope that your opponents don't wait until the end to knock your ball down? In the end game, can you not score on your opponent's side? Can you not descore on your opponent's side?