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Re: Gears: vigorously placing vs. launching
In the words of Potter Stewart, "I know it when I see it".
There is no way to tell for sure, and it will likely be called differently from competition to competition, and even from referee to referee. It is early in build season, if your design is causing you to question if it could be considered launching then I would recommend reconsidering your design. You never want to leave anything up to a judgment call if it can be avoided.
I would suspect that penalties will not be called unless either the gear is leaving the robot by design prior to contacting the peg, or it is leaving the robot with enough force to propel it significantly. If the distance the gear travels is similar to what would happen if it simply fell out of the robot then I would not expect an issue.
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