http://frc-manual.usfirst.org/viewItem/57#4.1.6
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be backed by ¾ in. (nominal) thick by 5 in. tall plywood.
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So 5 inches tall
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Bumpers must be located entirely within the Bumper Zone when the Robot is standing normally on a flat floor.
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[R01-2]
The Robot must have a Frame Perimeter that is comprised of fixed, non-articulated structural elements of the Robot. The Frame Perimeter of a Robot is defined by the outer-most set of exterior vertices on the Robot that are within the Bumper Zone, which is between 2 and 10 in. from the floor. Minor protrusions no greater than ¼ in. such as bolt heads, fastener ends, and rivets are not considered part of the Frame Perimeter.
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So they have to be fully contained in the range 2 to 10 inches off the floor.
Thus, the bottom of the bumpers can be from 2 to 5 inches off the floor and the top can be from 10 to 7 inches off the floor. (subtracion)