Malicious contact

[emaxos]

I feel that R1 was not attempting to harm F2

By your own admission you didn't think there was intent to harm which is the basis for a malicious contact call.
Webster's defines malicious as, "given to, marked by, or arising from malice". Malice as, "desire to cause pain, injury, or distress to another".
I know HTBT but by what you describe, no call other than "safe".