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Was Paul Richardson’s touchdown catch ruled correctly?

During the Seattle Seahawks win over the New York Giants, there was a play in the fourth quarter that caused a lot of controversy. I'm of course talking about Russell Wilson’s touchdown pass to Paul Richardson in which he and Giants' safety Landon Collins caught the ball at the same exact time in the endzone. Here's a replay of the catch:

According to the NFL rule book in Article 4b Catch or Recovery of a Free Kick: