[nuclearnerd]

I'm not 100% sure Q504 means the robot has to remain horizontal during climbing. Sure there's a 15" extension *in the plane of the bumpers* rule, but there's also G17 which says the robot can be as tall as necessary in the last 20s. If the latter overrides the former, than you could tilt vertical while extending up.

Even if both rules apply at once, you might be able to time the rotation angle (RA) and extension length (EL) so that the projection in the plane of the bumpers (EL*sin(RA)) never exceeds 15" outside the frame perimeter (EL has to shrink as RA grows). That's going to be a nightmare to enforce though.