Wedges and Rule <R19>

[FRC2177]

According to R19, "ROBOTS shall be designed so that opposing robots results in pushing rather than tipping or lifting." If a particular design doesnt meet the 10- degree requirement within the bumper zone, but could be shown to not lift or tilt another robot in a collision, may this be allowed? Would there be more leniency given if the parts that didnt meet the 10-degree requirement were made of some sort of pliable material (rubber, foam, etc)?
Can anyone help us out with this? Many thanks!
Team 2177

[FRC2177]

If a wedge-like mechanism is deployed to in order to harvest a trackball, but then is immediately retracted once the trackball is secured on top of the robot, would this be considered an infraction? The mechanism would only be deployed when the trackball was directly in front of the robot.
Team 2177

[GDC]

Rule <R19> does not make exceptions for softer or more pliable materials. Rule <R19> does permit for extensions used beyond the bumper zone. If the extensions are not used as wedges against another robot, then they are permitted.