Prior to this clash Rossi gestured twice to Marquez trying to get him to just go after the leaders. Rossi was trying to stay with Lorenzo with the hope of overtaking him. Both Rossi and Marquez might have been fast enough to stay with Lorenzo if they were not foolishly overtaking each other, which slows both of them down. If they had worked together they might have caught Lorenzo, which was where the meaningful race was. The last time Rossi slowed and moved off line I think he was trying to let Marquez past so they could hunt down Lorenzo together. Instead Marquez went outside of him and ran into him knocking his leg off the peg. There was still more than one bike width of tarmac for Marquez to use outside of him (to his left). If Marquez is innocent as you suggest then why didn't he avoid contact?
On Thursday before the race Rossi accused Marquez of trying to help Lorenzo. On Sunday Marquez lived up to the accusation. You can return your rose colored specs to sir Elton John now, they have failed you.