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Re: <R16> penalty
At the majority of events I attended last season, the referees kept a measuring tape at the ready. Any time a robot seemed to break the 72" rule, the referees would attempt to recreate the potentially infracting configuration after the match, and measure it as best they could.
I'd imagine the same will happen this year. If a robot extends beyond the 80" cylinder, I'm sure measurements of some sort would take place in the offending position after the match, and and an appropriate call made then.
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