[Rob]

I think it will be clear that your proposed scenario will not be legal. check out the FRAME PERIMETER rules and think about how you could legally create such a device inside the frame perimeter and yet not allow a ball 3" under the frame perimeter.

The robot footprint is defined by the FRAME PERIMETER and you can't have the ball more than 3" under that. Your FRAME PERIMETER is defined inside the BUMPER ZONE which is above the height of a ball, so you can't do this without violating the FRAME PERIMETER.

Just my thoughts.

Rob