Yes, it week 2 of competitions and we are deciding to widen our robot. Our question that we can not find in the manual is can your frame have a gap between the front and the side piece? It is a basic rectangle frame. The bumpers will completely cover the gap and the gap is about 1".
If I understand what you’re describing, I don’t believe this would violate any FRAME PERIMETER rules. However, take a look at R410 about supported BUMPERS. Depending on the exact positioning of your gap (i.e. whether it’s within 1/2" of the corner of your frame), this rule may present an issue.
My thoughts also. So, we centered the side piece and now there is less than 1/2" gap on each end. 
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Just to make sure we’re on the same page, the part that’s important here is: “a minimum of ½ in. (~13 mm) at each end of each BUMPER wood segment must be backed by the FRAME PERIMETER.” If you’re not violating that, you should be good to go.
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