[Boltman]

Originally Posted by Procolsaurus

Imagine you wrapped a string around the widest section of your robot. That is your frame perimeter. It sounds like your widest section includes the wheels, so at those points, they would define the frame perimeter.

It sounds like your actual frame perimeter now exceeds the 120" perimeter limit.

To clarify:

In starting config... robot extensions(up to 15" beyond) beyond actual frame perimeter polygon are in their starting config (within the polygon and up to 54" high)

Now with robot in starting config wrap a string around the widest portion in bumper zone (4"-12") and that will define the perimeter of the bot.

Rule references:
"To determine the FRAME PERIMETER, wrap a piece of string around
the ROBOT at the BUMPER ZONE described in R22. The string
describes this polygon."

"If a ROBOT is designed as intended and each side is pushed up
against a vertical wall (in STARTING CONFIGURATION and with
BUMPERS removed), only the FRAME PERIMETER (or minor
protrusions) will be in contact with the wall"

As a side note any corners defined by the polygon then need 8" bumper sides and any straight or circular sides under 8" need a bumper.