[jvriezen]

Originally Posted by Mark McLeod

That's not a legal bumper per R21 if it has wood without noodles.
It doesn't follow the prescribed bumper profile of wood backed pool noodles covered by fabric.

The section between the pool noodles will have to be the robot frame perimeter.
You need to attach the bumpers directly to the frame perimeter, and the latch itself probably shouldn't protrude.

I agree. Not legal. The only thing that can be outside your frame perimeter is bumpers. Bumpers have the cross section in the figure, so what you have there is not a bumper at that point. Effectively you have a 'hard' part, that is not recessed a bumper's width from the adjacent bumpers, which means you use that to your advantage.