Our team looks at the Inspection Checklist - you can find the v1.1 of the Checklist here - make sure you keep up with any updates to the checklist though.
http://www.usfirst.org/sites/default...ecklist1.1.pdf
We run our team through practice inspection using the checklist before we bag it up... This way we know that the robot will pass inspection when we get to our event (well, at least a higher likelihood of passing)... Take a look at the Electrical section, basically, your Inspector will need to be able to see your PDP, wiring, main breaker, etc. touch them, measure, etc... The harder you make it for them to wade through layers of stuff, the longer your inspection will take.
So, as far as R29, that's how we take it. The Inspector has to be able to get to them, see and touch them... For the main breaker... anyone should be able to locate it, reach in, and de-power the robot without getting into any moving parts... Sometimes, we put a sign that points and say "Main Breaker Here !"