[Jon Stratis]

I see two big legality issues in this picture (which isn't to say there aren't more that I don't see).

First, your bumpers are not supported on the ends- see R26. That means both ends of each bumper segment. We don't want any bumpers that are cantilevered, as that significantly increased the chance of the bumper breaking under impact.

Second, without something that extends into the corner of your bumper, your frame perimeter becomes poorly defined for your bumper design- essentially, there another "side" to the robot right in the corner, stretching on the diagonal between the two supports. That "side" is not properly backing the bumper at all.

Other possible issues that I can't tell from the photo:
- Bumper length must be at least 8". If those are 8" wheels, then it looks like the bumpers are about 8"
- I am assuming in this picture that the stabdoffs are permanently attached to the robot. If, instead, they are permanently attached to the robot, then you need some major redesigning to do. The wood must be on the frame perimeter and backed/supported by the frame/structure of the robot, not stood off of it like that.