Beware of R16 your robot design may be too big.

[MrForbes]

the rule says "While in the PLAYING CONFIGURATION, the ROBOT may expand up to a maximum horizontal dimension of 80 inches"

This robot is less than 80" from the center of the rear bumper, to the end of the arm.

But it is more than 80" from the corner of the bumper, to the end of the arm

This robot should not pass inspection, as I understand the rule.

(although the drawing here shows the "cylinder", not the actual measurement from the corner of the arm to the opposite corner of the bumper, which is the limiting dimension)