[MrRoboSteve]

The text you are quoting describes the steps that teams can take to remedy issues with starting configuration, once the robot is fully placed on the field.

What I have observed (I'm not a trained referee):

The referees typically notice these issues later in the reset process, after team members have placed the robot and left the field. This leaves little time for teams to fix issues.

* many teams visually inspect their robot prior to leaving the field during the setup process

* referees want to see robots compete

* everyone wants matches to run on schedule, so that the day ends on schedule

* teams in early matches (i.e., first qual match) may be allowed a minute or two extra to fix issues. This is at the discretion of the referee and FTA, and is influenced by how close to the schedule the matches are running, among other things.

* referees are less patient with teams that repeatedly have perimeter issues. I saw a list being maintained at one regional this year so that repeat offenders could be detected and warned.

Teams that use a tool to store energy in their robot often have mechanical lockouts to ensure that it can be transported safely. Those robots come onto the field preloaded with stored energy, and the lockout is removed as part of placing the robot on the field. Lockouts are a good design feature on robots with stored energy.