Well I dont know how you could use the verticle bars to climb up without attaching yourself to them, or bracing against them both, which would be complicated if you wanted to climb up. But the definiton says you must be directly supported by the horizontal bar.
Quote:
HANGING – A ROBOT is considered HANGING from the Pull-Up Bar if it is directly SUPPORTED by the
horizontal bar and is not touching the carpet, platforms, or goals.
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Quote:
SUPPORTED – If the “supporting object” is removed, the ball would not remain SCORED or CAPPED
and/or the ROBOT would not remain HANGING.
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So in other words, if you take away the horizontal bar, would you fall? If you would, then it will score.