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The result also meant that five-time champions Mumbai Indians, currently ninth with eight points from 12 matches, are out of the playoffs race.
Despite this uncertainty, third umpire Michael Gough ultimately trusted the first two replays and declared Sanju out.
A couple of TV replays suggested that the foot hadn't moved but another angle looked unclear. The RR camp was unhappy that third umpire Michel Gough made the decision rather hastily.
The win boosted DC's playoffs hopes as they moved to fifth spot with 12 points from as many games. RR stay in second place with 16 points from 11 matches.
Sanju Samson scored 86 but the Royals fell short by 20 runs.
Yadav's unbeaten century had helped Mumbai Indians post a 7-wicket win on Monday.
SRH remain in fourth spot with 12 points from 11 matches, while MI climbed to ninth place with eight points from 12 games.
Mumbai Indians won by 7 wickets after chasing a modest total of 173/8.
The leg-spinner returned figures of 2/18 from her three overs as India won the rain-interrupted match by 56 runs via DLS method.
In the rain curtailed match, India posted a 56-run win with 33-year-old Asha bagging 2/18.