Clarification on Robot Configuration

[2010FRC0141]

In reference to this thread- http://forums.usfirst.org/showthread.php?t=13940 conclusions drawn here seem to be conflicting with the game manual. Nowhere can we find a rule that says we cannot have actuators that expand from starting configuration but remain inside the frame perimeter and do not exceed the normal configuration as defined per rule R-10. Can you clarify please?

[GDC]

There is no rule that would prohibit parts of the ROBOT from expanding/contracting within the limits of the NORMAL CONFIGURATION and the vertical projection of the FRAME PERIMETER. That is a different question than the one referenced.

The answer to the question referenced was "No" because we interpreted the question as asking about expanding and contracting in the horizontal plane, which is prohibited.