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G23. Shoot FUEL from your own LAUNCHPAD. A robot may only LAUNCH FUEL while in their own LAUNCHPAD (I.e. at least breaking the plane of the line with their BUMPERS).
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I'm not sure how G23 applies to the situations you're describing. I assume you meant to put R23.
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R23. BUMPERS must be located entirely within the BUMPER ZONE, which is the volume contained between the floor and a virtual horizontal plane 7 in. (~17 cm) above the floor in reference to the ROBOT standing normally on a flat floor. BUMPERS so not have to be parallel to the floor.
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None of the situations you described would violate R23. The "floor" in this rule is relative to the robot, so basically the floor is the plane defined by your wheels if your wheels is what would be the lowest points of the robot when sitting on the floor.