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Re: 84 inch diameter vertical right cylindrical volume ?
Take a soda can. Barring stuff around the base and top, it is a vertical right cylindrical volume. (You could also wrap paper around that can for a better impression.) Now expand it to 90" high and an 84" diameter. Fit in it.
As for the question on tipping, I can't find anything saying tipped robots are penalized for going out of their volume. I also can't find anything the other way. Q&A it and see.
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Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons
"Rockets are tricky..."--Elon Musk
 
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