The two relevant rules here:
Quote:
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<G10> ROBOT Size – Prior to the MATCH, each ROBOT shall not exceed the NORMAL CONFIGURATION maximum weight or volume specified in Rule <R10>. The Head Referee may call for an inspector's recertification of the ROBOT size and weight prior to the start of any MATCH. Violation (for ROBOTS prior to the match): Prohibition from participating in the MATCH.
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So the robot absolutely must fit inside NORMAL CONFIGURATION before the MATCH begins. It is true that if the kicker extends beyond the FRAME PERIMETER, but is within the NORMAL CONFIGURATION, it could be placed onto the field as is.
Quote:
<G30> ROBOT Volume – During a MATCH, no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, except as follows:
a. BALL Interaction Volume – Solely for the purposes of interacting with a BALL, MECHANISMS that are below the BUMPER 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.
//snip//
Violation: PENALTY and YELLOW CARD.
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But once the match starts, <G30> comes into effect. You can take the PENALTY and YELLOW CARD in your first match. The second and subsequent matches, you get another YELLOW CARD and thus a RED CARD. That's not a good way to get high in the rankings. And it would be a surefire way for other teams to eliminate you from their picklists, as there would be no way to win more than one match in the elimination round.