[EricH]

Originally Posted by kirtar

if you're not articulating the bumpers out of the bumper zone, there's nothing wrong that I can see.

In any case the first one seems valid since it's just a raised wheel.

Actually, it isn't. It's a full suspension. The omnis in the middle start out in a plane with the mecanums. They also happen to have a pivot point for the front of the frame, which can go up or down, sides independent. (In this picture, down; a few moments before, it would have been up.)