Bumper zone clarification

[mentos54]

I know this has probably been asked in previous years, but could someone clarify G23 for me? If a robot is climbing in such way that it is parallel to the floor, would it be violating this rule? (The only example given is with the robot being at an angle).

Also, if the entire robot were lifted somehow (for example, if it were to end up on top of another robot), would it be violating this rule? Or would the "base" of the robot be transposed to a flat floor, making it legal (except for the whole on top of a robot part). The only example given is with purely the bumpers being lifted without moving the entire robot.