I know it's not a hand touch situation.
Haines did have reaction time, and that reaction yielded zero loss of control by Robb. He had him dead to rights. And you need to look at more video, because other angles show exactly what is going on as his feet left the cylinder.
Good grief, he picks his guy up, not at the legs but all the way up on his mid body, puts him flat to hit butt and back, doesn't lose any control as times runs out, and the guy gets zero points for it. He had control of him like a rag doll. It's wrong.