I had a student propose a self lift system that I say is illegal, but he thinks it might be legal. The theory comes from the same type of jacking system firetrucks use to level themselves or a motor home. Basically a jack on each corner will lift the main body and wheels up above the 12" plane.
My thought is that the robot is still touching the floor with the jacks. His thought is the the main robot body and wheels are up off of the floor.
Your thoughts are correct, this is not a legal Elevation.
In situation you have described the Robot is breaking both clauses 3 & 4. It’s breaking clause 3 by touching the foam field tiles, which by definition are a Field Element. It is also breaking clause 4 since the entire Robot is not above the plane formed by the top of the field perimeter.