[vhcook]

The way this works is that if you were to draw an appropriately sized circle on the floor, and put the robot in it at full extension, the whole robot has to be inside the plane of the lines. You can back it up until the frame perimeter is up to but not over the lines - it doesn't have to be in the middle.

ETA: If you have multiple functions that are never ever used at the same time (such as an arm going forward and a minibot delivery system going backward), they don't have to fit at the same time - just in every configuration that will happen on the field.