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Re: hanging
For a robot to get under yours, you must be above it. Therefore, able to hang without a robot under you.
However, if your winch, puller, thing-a-ma-jig that you used to start to hang, backdrives and you slide down and then come to rest on the bot underneath you, referee's may see this as you would continue to go to the floor.
I think the referee's will get this decision as a judgement call in the end.
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