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4-19-1 . . . A personal foul is a player foul which involves illegal contact with an opponent while the ball is live, which hinders an opponent from performing normal defensive and offensive movements.
Did the contact initiated by A1 hinder B1's normal defensive movements? From your description it doesn't sound like it. B1 was not even displaced by the contact. Therefore, I would say that no foul occurred on the play.
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