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I was thinking of a setup such as:
<p>Each piece is a vertical line of length 4. The leftmost white Rook (for example) would initially occupy a1 on levels 3 though 6. The leftmost white Knight would occupy b1 on levels 3 through 6. Etc. Black pieces would occupy similar positions on levels 3 through 6.
<p>Rotation would be allowed, but only allowing pivot points on the ends of the lines. Rotation would require an entire move and capture by rotation would not be allowed. For white pawns that have been rotated to be horizontal, forward is up. For black pawns, forward would be down. Pawn promotion would still only occur on the last rank (and not the last level).