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Re: Perimeter
They talk about rapping a string around the robot at its widest point(s) and then measuring the length of the string as <120". This method is used to allow concave shapes. A simpler way to think about it might be: what size shipping box would I need to put the robot in and then what is the perimeter of the box. I assume you want your wheels included in the shipping box.
BTW: in the old days before switching to "perimeter", they actually had an inspection box you rolled your robot into and you had to be able to closed the door.
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