Today the team discussed the two remaining ideas for a drive-train and the tube manipulation device. We decided on a octagonal bot with 4 sets of omni-wheels. Two of the wheels will have slightly more power for driving forward. The gripper has yet to be finalized, but we have determined that using a vacuum on the gripper is not a good option. The arm will be a thin 4 foot long piece of metal that is powered from a single shoulder joint. This shoulder will be attached to some type of elevating mechanism on the robot to allow it to tuck into the robot at the beginning of the match and extend to pick up tubes off of the floor and reach the highest hanger which is over 9 feet from the ground. The robot will be able to hang the tubes on the 4 highest hangers by flipping the tube over the back, but the lowers one must be hung with the robot facing forward. Unless a better option is found, the camera will be mounted in a fixed spot looking down the arm.