[yara92]

1) What is the relationship between the "Normal Configuration" and "frame perimeter"? In the "Normal Configuration" it refers to the size of the rectangular "space" whereas the perimeter refers to the static frame.

2) Regarding G30 a - if we build the frame smaller than the allowed "normal configuration" size, can we have a manipulator, which is below the bumpers, extend out side of the frame but within the allowed "normal configuration" measurements? Would a manipulator such as this be confined to only being extended for 2 seconds?
mohamed mentor team 1946