What are the requirements for the bumpers in relation to the frame? As in how high off the bottom of the frame can the bumpers go?
It depends on where your frame is in relation to the Bumper Zone, which is defined in relation to the floor.
The Bumper Zone, as defined in [R01-2], is between 2 and 10 inches from the floor. According to [R29], Bumpers must be in that zone whenever the robot is standing normally on a flat floor.
Logically, the bumpers must be attached to part of the frame (or an extension there of), every 8 inches. And that extension must be immovable relative to the outermost parts of the frame.
Thanks everyone this was a big help!