[EricH]

Originally Posted by Matt C

The rule states it is a "vertical right cylinder", therefore it would not move with the robot, but is stationary.

I guess someone needs to go read <R10>.

<R10> During the MATCH, the ROBOT will assume one of two operating configurations. When in each configuration, the ROBOT shall fit within the limits shown below (note: these limits are defined in reference to the ROBOT, not the FIELD).

With regards to the timeframe, rule <G30-C> would trump the definition of FINALE CONFIGURATION, as it explicitly allows expansion up to said configuration provided the tower is being contacted. Also note the use of "i.e.", which in modern usage usually means something to the effect of "such as" or "that is". It's defining the Finale; the finale configuration is the configuration the robot would take during the Finale; <G30-C> allows expansion up to the limits of the Finale Configuration, provided the tower is contacted.