[EricH]

I hate to ask this, but are those basket supports mounted fairly well inside the outer frame? If not, you might try actuating the basket with a vertical piece of plywood backed up to the back of the robot, not counting the trailer hitch, to make sure. If it crosses the bumper perimeter (determined in the bumper zone), you would be in violation of <R16>, and would need to a) add extra frame on one or both sides or b) redesign.

I simply ask because I want to be sure. It's a very interesting design, and I would like to see it in action.