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I don't think it will be all that bad
My understanding is that you can't make it impossible or even to hard to get away from an attaching robot.
If your robot loses an arm when anohter trys to get away than you have made a poor design choice and the escaping robot should not get a penalty. If a piece of a defending robot has to break off to get away than the attacking robot has broken the "no entanglement" rule.
I think we will see a lot of pushing but not too much grabbing. Grabbing is too high a risk for the attacking robot getting a DQ so smart people will not do it.
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