[treffk]

First of all:
[R02]
The Robot must satisfy the following size constraints:
horizontal dimensions must not exceed 28 by 38 in.,
the absolute height must not exceed 84 in.,
the height of the Robot at the start of the match must not exceed 60 in.,
any appendage may not extend more than 14 in. beyond the frame perimeter, and
no other part of the Robot may extend beyond the vertical projection of the Frame Perimeter (with the exception of minor protrusions permitted per 0).

Secondly:

A Fender is located directly below the Hoops at each end of the Court. The Fender is designed to protect the Hoops from damage by Robots. The Fender is 38-3/4 in. deep by 101 in. wide and measures 8-1/4 in. tall at the front, and 10-1/4 in. tall at the back against the Alliance Wall.

From my take on these 2 rules copied directly from the manual and the other factors that the hoops inner diameter is 18 inches and the hoop is 6 inches away from the backboard(at the narrowest part). 38.75-(6+18)=14.75-14=0.75. There would be no possible way to be directly above the hoop. This is just my take, please correct me if I'm wrong.