[EricH]

R4 governs the Starting Configuration--as in, when you place your robot on the field.

Once the match begins, R3 takes over and allows you to extend 15" past the frame perimeter (not the bumpers, the frame perimeter).

You can have those items, but they have to exit your frame perimeter after the match begins. This requires them to be at least somewhat active (in order to drop down after match start).