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It is clearly not incidental contact if there is no need for the end effector to be raised/used for interaction in the first place. When acceptable bumper-bumper defense is being played, any arm/manipulator that is used out of the bumper zone (5' in the air) to interact/contact with the defended robot's manipulator is unnecessary, and clearly done intentionally. I ask again, why should they not be given the 10-point penalty if the interaction was done intentionally?
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I understand what you mean, and although some may find it intentional, other may find it as they were trying to there arm out of the way, or trying to get it clear of the rack, or just trying to move it into a better spot for future pick ups.
I do understand it is upsetting, but look at the possiblities of raising an arm, the team could of been doing a number of things besides attacking your arm, so the refs have to take that into account, or people will complain about that side of it as well