When a robot is on a platform, what determines if it’s on or not. Ex. if a piece of a robot exceeds the perimeter of the platform does it not count as a climb.
If you refer back to the manual (sorry for not having it here), a robot is scored if the bumpers are completely over the level of the platform to be scored, and it is only supported by the platform of that level, the Alliance Wall, or a robot already on the same level.
I.E. if your robot is on level 3, and an arm is hanging below the level of the platform, it would be scored if that arm is not contacting anything else for support.