As a referee, a scenario as illustrated below occurred. Red Robots 1 and 2 each possess a mobile goal and are in the process of stacking cones on each side of Blue robot 1, while Blue Robot 1 also possesses a mobile goal with stacked cones, and is making an effort to score their mobile goal. Blue Robot 1 has a difficult time getting past the field elements, cones, stationary goal, and either Red Robot. The Blue robot made contact with each Red robot individually (not at the same time) while the Red robots are still in the process of stacking cones and blocking the Blue robot paths to the scoring zone. With a few seconds remaining, the Red robots score their mobile goals, and Blue is now in a position where it did not score its mobile goal. The score difference is less than 10 points. There is clearly no pinning against field elements happening in this scenario, but Blue not scoring the mobile goal could have been considered match affecting due to the time it took to get out of the center of the field. There was a claim by Blue that the Red alliance violated SG4 because they were confined to the center of the field and could not get to their scoring zone due to cones, field elements, and opposing robots blocking them from exiting. The referee ruled that they had opportunities to “escape” the center in spite of it not being the route they wanted to go and never started counting for a “trap”. Then Blue claimed a violation of SG7 that both red robots along with field elements and cones blocked access to their scoring zone. Rule SG7 allows for “incidentally blocking access to portions of the field while attempting to Stack Cones on Goals, Score Mobile Goals in Goal Zones or while Parking is an expected part of game play. Minor violations of this rule that do not affect the match will result in a warning. Match Affecting offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Disqualification at the Head Referee’s discretion.” The referee ruled that each Red robot was playing offense and stacking cones and only inhibited the Blue robot from going where it wanted to go and issued no warnings or DQ’s.
Question: Was the referee correct, or should 1 or both Red robots receive a warning, or disqualification since Blue not scoring the Mogo could in theory be considered match affecting for a violation of either SG4 or SG7?