Robot intentionally tipping over

[nuclearnerd]

R22 says: BUMPERS must be located entirely within the BUMPER ZONE, which is the volume contained between two virtual horizontal planes, 4 in. above the floor and 12 in. above the floor, in reference to
the ROBOT standing normally on a flat floor.

What defines "normally"? Starting configuration? Average position during the match? Where the robot lands if you were to pick it up and set it down again? Waived in the last 20s?

On a similar note, do the frame perimeter extension rules (R3, Fig. 4.2) rotate with the frame? If so, it would (awkwardly) prevent teams from going vertical while extending an arm to the rung (even if the height rules are waived).

Clarifying how these rules affect orientation changes will have a huge effect on teams attempt to scale the tower.