The key is to know the definition of a foul, 4-19-1:
Quote:
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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 offensive or defensive movements.
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IOW, without advantage, there isn't really a foul. Sometimes it takes a second to determine whether or not there was an advantage gained.
The other definition to look at here is "incidental contact." 4-27-3 in particular.