[Gdeaver]

To determine the bumper perimeter, ignore the trailer hitch and wrap a string around your robot. From the picture I see this forms 6 vertex's. Those are the corners and the rules say that the corners (vertex's) must be protected in both directions with bumpers that are a minimum of 6 ". The problem with this design is the 2 vertexes on either side of the trailer hitch. They only have bumpers on one side of the vertex ( corner). To modify your bumper area frame to be legal you might as well square it off and be done with it. From what I saw yesterday driving our robot, you probably will not gain any advantage with your frame trailer interactions. In fact your design can cause more problems trying to back up in a jack Knife situation.