1996 Blue Knights baritone here: Near the end of the season this happened to me.
Had a horrible drill pass-through and I was at the end where we had to pass through the contras at an opposite angle while jazz running and I was at the end. During a show, I was chugging along and went through the motions don't exactly remember but My horn hit the back of a contra and I stumbled around and went through the motions until the end. Luckily, it was like the third to last set of the show. I got a fat lip and was shaken up from it.
The next day we looked at the passthrough and since I was at the end and everyone else could make it safely through, the compromise from the wonderful staff was for me to pull the horn away and move it off to the side and just march the spot.
I hated that part of the show and can see my solo horn move in the finals video.
Way to go BK!! Keep innovating!!