Is this climb legal?

[bcootner]

http://www.youtube.com/watch?v=0hH7YkedMqs

Not my team, but a very interesting video (thanks Team 2635 for posting!) However, this video has created a large debate. Is this climb legal? At first glance I would say it isn't because the hook/climbing mechanism exceeds the frame of the robot, and will go past the bumpers. Now, after further investigation rule R04 states:

"In the STARTING CONFIGURATION, no part of the ROBOT may extend outside the vertical projection of the FRAME PERIMETER, with the exception of minor protrusions such as bolt heads, fastener ends, rivets, etc."

Does this mean that as long as the robot starts with everything within the perimeter, during the match (no longer in STARTING CONFIGURATION) arms and hooks can shoot out and go past the bumpers in order to climb? I still say this climb is not legal, but I find the wording of this rule to be very unclear.

Thoughts?