The rules are clear, but the rules don't make too much sense. They all contradict each other in terms of common sense. That is why people are making their own judgements.
I'm not hugging my mum. She is immune-suppressed. I've no choice but to see her indoors, as she's often too poorly lately to be up and about. I sit far away and am very very careful about hand washing and touching surfaces. My kids have seen her once, outside in sunny weather in June, and kept a distance.
I've hugged my dad, though. Not every time I see him, but enough. My children have hugged him too and I'm not going to tell them to stay 2 metres away from him, even outside. Life really is too short. Because he is caring for my mum, he has been locked down for months on end, he's worried and lonely. If he needs a hug, he's having one.
Likewise, if my children want to snuggle up next to their cousins whilst we stay at their house (legitimately, one other household indoors), or hug a friend in the park, I'm not going to stop them.
I wear a mask, I haven't been to the pub, or for a meal with multiple different households and on and on. But sometimes you make a risk assessment and do the best you can.