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When a robot is in contact with a block or a Top Golden Block that is placed in the correct position or within tolerance, does that block earn score?

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When a robot is in contact with a block or a Top Golden Block that is placed in the correct position or within tolerance, does that block earn score?

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The block must be completely out of contact with the robot in order to earn score. In Figure below, there is no score for the block B which is directly in contact with the robot.

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