R3 20" rule

[Jon Stratis]

Originally Posted by N91L

I have a question concerning weaher its just 20" form the side or weather that 20" also counts for the corner... rather than the 28" that would be found using the pothagorian therium...

If I understand correctly, you want to extend into the corner such that, looking downward on a rectangular robot, the furthest point is 20 inches in both the X and Y dimensions from a corner of the robot, leaving it 28" from the corner itself, measured on the diagonal.

Again,

a ROBOT may not extend more than 20 in. beyond the FRAME PERIMETER (see Figure 4-2 for examples)

Figure 4-2 also clearly shows rounded corners for the 20" - you can NOT extend 28" into the corner, only 20" from the nearest point on the frame perimeter.