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Indeed.

Whether it's deliberate or not doesn't matter. He could have gone after the ball and still fouled. It's whether the contact interfered enough to make a difference in the play. In this case it didn't. The Torino guy's bad touch took him out of the play more than Pirlo did. Without the dive...

There was contact, but it wasn't a penalty. - - - Updated - - - Fixed. But yeah, no one ever intends to foul someone in the box.

Whether contact is incidental or intended has no bearing on whether a foul has occurred.