During the drivers meeting I heard the Ref say that it was OK to try to knock a tube out of another robots grasp. It was NOT OK to grab the tube. If two robots became entangled it was incumbent on both of them to try to become disentangled. If one of them fell over, the other was probably going to be turned off for the rest of the match. The penalties I rememeber them stressing was from a full speed ramming run from 5 feet or more away (even in autonomous mode) and grabbing a tube in another robot's possession. I got the feeling they weren't going to call penalties for robot arms touching, incidental or otherwise.
I just wish we had had the chance to use some desperate and questionable tactics on Einstein. Not that we would have...

Chris