This Sucks.
Q. G18 penalizes an extension more than 15" beyond the robot's frame perimeter. Is plane the measurement occurs in relative to the robot or the field? For instance, a robot uses a grappling hook to climb and tilts 90 degrees as it winches itself up. Do you do the same "virtually transposing the robot to a flat floor" as with R22 to determine if the hook extends greater than 15"?
A. 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.
I really wish there was some flexibility there.
EDIT:
Smarter people than I can take a look at the geometry below. I used 2.5" to set the robot away from the tower. It seems to me that touching the tower directly behind the RUNG is a penalty as it is 15.7.." inches away.
