Zig Zagged: Hiro and his friends are dressed up as the enemy, sneaking around the base. Meanwhile, some of Siegfried's men are sneaking out, disguised as members of the group that the heroes are from. The former exposes the latter, and since they're surrounded by villains, they pretend to arrest them; unfortunately, as they don't have the right keys or identification, they're exposed as fakes as well, and a couple of mooks cart both groups off to the jail. Right as one of the mooks takes the cell keys out, one of the others reveals themselves as a disguised member of another group, who knocks the other mooks out and frees Hiro and company.
Averted: Instead of taking the uniforms from the patrol they just knocked out, heroes sneak in the old-fashioned way.
Enforced: There was so little left in the costume budget, the directors decided to clothe everyone in the same garb.
Defied: According to safety protocols, minions must keep their faces visible at all times and wear ID badges. Other countermeasures are also implemented.
Conversed: "It's strange how stealing enemy uniforms and disguising oneself as an enemy always works in fiction. In real life, someone would have noticed things are a bit off."
The uniforms don't fit very well because of how they were tailored for their actual owners. In addition, Hiro and his friends don't know any of the passwords or other routines used by the soldiers guarding the castle. Thanks to this, they're caught and thrown into prison, informed of the strict penalties for impersonating a soldier...
While dressed as an enemy, they encounter an ally who doesn't know they are friends in diguise, thinking they are enemies, their ally promptly hurts/kills them.
In order to help pull the rescue off, the heroes first study the guard's routines, and give the uniforms they obtain to the members that fit into them the best.
For cases where they might be unable to identift each other, The Leader assigns everyone a Trust Password. In this way, there is mistaking each other.
Played For Drama: Princess Velvet is about to be forced to marry Emperor Siegfried the next day, so Hiro launches a desperate plan to save her despite not being well-prepared for the inflitration effort. They know full well that they can't fight off the whole garrison — if they're caught, they'll be slaughtered — but they can't see any other way to rescue her. They have to take the risk.