Pretend that your robot's starting configuration is an 18"×18"×18" robot that consists of a small square in the middle with arms on all sides extending outward, but not going out far out enough to be capable of exceeding the 18" maximum starting size. This robot starts with all arms fully extended. The robot, in this case, would be able to shrink in multiple directions and then expand back to its normal size without growing to an illegal size. Would this be a violation of <SG2> (Would it be considered illegally expanding in multiple horizontal directions)?
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Official Q&A: VEX V5 Robotics Competition 2024-2025: High Stakes
2200: Extend & Shrink within Allowable Configuration
Answered by committee
<SG2> limits expansion beyond a robot's starting size/configuration. Since the robot in your example retracts mechanisms to shrink down from the starting size/configuration and only expands those mechanisms back out to starting size/configuration, this expansion does not fall under the limitations set in <SG2>. Therefore, the robot in your example does not violate <SG2>.