R4 clarification

[ollien]

When strategizing with my team, the question came up whether or not we could have a piston, for example, that would extend in front of the bumper. I've crudely drawn a together a couple of diagrams to demonstrate what I mean.

Before the match started, the robot would start like this:


and at some point during the match, to pick up a boulder, for example, the pistons would extend and form something like this:


When checking the rules, I came across R4 which states

In the STARTING CONFIGURATION (the physical configuration in which a ROBOT starts a MATCH), no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, with the exception of minor protrusions such as bolt heads, fastener ends, rivets, etc.

However, this only states that the robot can't start with something extruding past the bumper. Would I be able to extend something below the bumper like that?

Thanks so much!