In determining a SG7 violation.
Using this Q&A (1610)
Part E is labeled as a grey area - where possession is uncertain it is up to the interaction and engagement.
A Robot is considered to be Possessing a Triball if a Robot’s change in direction would result in controlled movement of the Triball. This typically requires at least one of the following to be true:
- The Triball is fully supported by the Robot.
- The Robot is moving the Triball in a preferred direction with a concave face of the Robot (or inside of a concave angle formed by multiple mechanisms/faces of the Robot).
What extent of turn is required to determine a violation?
A very small concavity can provide an improvement to control, thus is any beneficial control a violation?
A default clawbot is shown with minor concavity formed by the inset of the motors and the wheels extending slightly - forming <=0.5 in depth of concavity - see image below. A gif is coupled showing this concavity being used to manipulate two triballs with greater ease than a flat plate.