Further Clarification on G22 and Extensions

[FRC481]

It it permissible to build a robot with appendages that extend beyond the 28"x38" starting footprint of the robot. Under Rule <G22>, any contact between these appendages and an opposing robot within the Bumper Zone (2-1/2" to 8-1/2" off the floor) is generally acceptable. Simultaneous contact both inside and outside the Bumper Zone will be considered within the Bumper Zone. If the contact occurs outside the Bumper Zone, then the robot with the appendages will bear the responsibility for the contact.

Please clarify if this reading is correct: Any contact between a robot with appendages extending outside of the starting footprint (Robot A) and a second robot (Robot B) exclusively outside the bumper zone will result in a 5-pt penalty on Robot A, regardless of who initiated the contact or the severity of the contact?

Is there any room for "incidental contact" in the above case? If two robots with appendages contact exclusively outside the bumper zone, will both robots be penalized?

[GDC]

The second bullet of <G22> states "incidental contact will not be penalized". If two robots with extensions contact exclusively outside the bumper zone, there would be no penalty. Even though the striking robot is responsible for its extensions, it is not responsible for contact with the struck robots extensions, so the penalty gets nullified. A robot puts appendages outside of the 28 x 38 footprint at its own risk.