[Gary Dillard]

Originally Posted by GaryVoshol

Draw an 84" circle on the ground. Place your robot in the circle. Shine a bright light down from infinitely on high (so you can ignore parallax). The robot's shadow, excluding bumpers, must always be inside the circle no matter how much you extend arms or other devices.

Also understand that the circle is not fixed relative to the robot over time. If you have an arm that sticks way out front the center of the circle may be forward of center of the robot. If you then change positions so that the arm projects a little forward and another one projects sideways, the robot would change position in the circle so that it would still fit.