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The purpose of this forum is to clarify Rules. We will not use it to declare strategies or designs unequivocally legal as there are factors in play beyond this forum. The 54 in. cylinder is not fixed to a specific reference point on the ROBOT when the ROBOT is contacting the PYRAMID. In other words, if a 54 in. right cylinder with a height of 84 in. could, in at least one orientation, fit around the ROBOT, the ROBOT is in compliance with [G23-1]-A.
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Woo! Back to the old design! Thank goodness...
I feel like they could have been far more clear on the wording, but hey - I'm quite happy!
EDIT: Cal beat me to it.