<G30>
Quote:
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a. BALL Interaction Volume – Solely for the purposes of interacting with a BALL, MECHANISMS that are below the BUMPER ZONE may extend up to the BUMPER PERIMETER, for a period not exceeding two seconds. After returning inside the FRAMER PERIMETER, such MECHANISMS are not permitted to re-extend beyond the FRAME PERIMETER for at least two seconds.
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(emphasis mine)
The mechanism that is on the opposite side of the robot would be extending for a purpose other than interacting with a ball. That's my opinion, anyway.