FYI - The GDC just ruled on the 15" extension reorientation while scaling issue -
Extensions outside the FRAME PERIMETER are measured in the same plane as the FRAME PERIMETER. As the FRAME PERIMETER is re-oriented (e.g. when a ROBOT drives up the BATTER), the plane of measurement is similarly re-oriented.
https://frc-qa.firstinspires.org/Que...ng-hook-to-cli