Use of opponents tubes

[FRC151]

Is it possible for one alliance to pick up an opposing alliances tube from the floor and score it on the rack? Understanding that the offending alliance will recieve a 10 point penalty per <G21>, will the tube still count?

[GDC]

If an alliance robot hangs an opposing Ringer in a scoring position on the Rack, the alliance will receive a 10-point penalty per Rule <G21>. If the spider leg is empty and this is the only game piece on it, the game piece will count. If there is already a game piece scored on the spider leg, the second Ringer will be evaluated as specified in Rule <R15>.