It could just be because of the perspective of the video but it looks like your pickup roller enters "the volume above the midline" when you pickup the ball. Wouldn't this draw a foul based on G13?
Quote:
G13 During AUTO, ROBOTS may not enter the volume above the MIDLINE.
Violation: FOUL. If contact is made with an opponent ROBOT beyond the MIDLINE (either direct contact or transitive contact through a BOULDER), an additional FOUL is assessed and the opponent ROBOT is immediately awarded the CROSSING of the closest DEFENSE from the point of contact.
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