In fact Rossi did a quite erratic line change, after being touched by Lorenzo... Your spatial perceptions are ok, it is the temporal ones that are all mixed up. That's where the mind intervenes probably..
You are also absolutely right that Rossi could have got through. There is even photographic evidence of that:
Very funny picture.....lol
Rossi said that this was just a racing incident and whether he really meant that or not we will never know. Maybe Stoner had a plan with Lorenzo and the Spaniard took the revenge for the Rossi - Stoner - Jerez incident