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<R16> Once the MATCH has started, the ROBOT may assume a PLAYING CONFIGURATION that is different from the STARTING CONFIGURATION. The ROBOT must be designed such that the PLAYING CONFIGURATION of the ROBOT shall not exceed the dimensions specified in Rule <R11>.
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I know this means that an arm or other robot part cannot be extended intentionally beyond the starting dimensions. However, would we be in breach of this rule if we used, for example, two of the wheels as casters (free pivot) on a chassis built exactly as big as the max dimensions specify, and during a turn part of the free pivoting wheel extended outside of the chassis? The wheel would still technically be under the bumper and not protruded.
It's a skid-steer vehicle, so it depends on the phase of the moon and yesterday's lottery numbers. - Ether [more] 
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