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Seems like a play that you would have to see to determine, but from what you've described, I would say "contact" does not make it a foul.
Assuming:
* defender has legal guarding position (LGP)
* no displacement has occurred
Play on.
Thoughts:
* If by "pivots" you mean rotates torso without pivoting the lower body, you may have a violation, but you did say "not excessively".
* If B1 correctly pivots with elbows extended, you cannot have a violation, but you may have a team control foul.
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Trust your partners, but trust yourself more. Training, experience and intuition are your currency.
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