Eugene, your proposed solution aligns very well with the one we decided on during drive back to Boise - it should be on the practice bot Monday night. Part of the solution to these situations is likely referee awareness. The aggressive bumping during the hang process was only present during the finals and we have speculated that the critical referees may not have been appropriately tuned in to what to look for - seems a very human thing to learn as the game develops - we are
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The contact was very visible from the drivers station, but from midfield position and some of the other locations it was likely not as visible. You can be certain that we will talk with the referee on the baseline behind the driver station about all parts of our robot that could be contacting the tower structure in the future.