[EricH]

On the bumper issue: Penalty both times, Yellow Card the second time as it was evidently a repeat problem. The second time shouldn't have happened, but it did. Grounds for the ruling: <S04> specifies a penalty and possibly a Yellow Card, depending on severity. First time, penalty and "go fix your robot". Because it happened again, they call down a yellow card on themselves for doing the same penalty twice. Assuming that they are allowed to compete, of course, due to inspectors.

On the other: <R11> is clear. You can't go beyond the size limits. You also can't go beyond the bumper perimeter due to <R16>. If a piece of the robot is hanging outside of the field, and the robot isn't completely cockeyed against the wall, I'd say the robot went beyond the bumper perimeter. As it is obviously accidental, no yellow card should be assigned; however, one <S04> penalty should be given for violation of <R16> or <R11>, depending on the robot and the situation. As it did not contact the ground, <G27> does not apply.