[EricH]

Originally Posted by GX67

So if I understand you correctly, they're defining the frame perimeter as the rectangle formed by the four corners of the robot, and we can't have an alcove like the one formed? Even if we have the bumpers extend on the three sides inside?

Bumpers have to be on the frame perimeter; there are several points in <R07> that require that.

You can have the alcove, provided that it is NOT in the frame perimeter and that the ball goes no further than 3" into the frame perimeter.