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Re: Bumper question
Those are not outside corners, and as such are not part of your frame perimeter (see the lower left example in R22). The corners you have to cover are anywhere a string wrapped around your robot at bumper height would bend.
The tricky part here is the outer corner on either side of your V-notch need to have an 8" bumper segment toward the V (which I've tried to diagram for you - the 8" starts at the right angle corner and comes in toward the V). Assuming you've managed that, and the last inch at each end of those segments is supported by the frame (R29A), you're good to go.
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