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I think you will find that rookies were always allowed to join factory teams apart from 2010-2012. It was a very pointless rule, as factory teams could have always supplied their satellite teams factory machinery anyway. During those 3 years there were no rookies that joined that were good enough to be given factory machinery straight away.
And as Sidney has stated Casey would have crashed just as much. From the start of his career in 2001-2006, Casey was known as a fast rider but a perennial crasher, and was not giving factory machinery when he moved up to Motogp simply because he had won few races and no world championships prior to Motogp in comparison to Pedrosa, who cleaned up and won 3 titles prior to moving up.