We took the prototype out for a spin and one of the CIMple boxes was being sketchy (as we had noticed on Thursday). Then we noticed that the key was no longer in the gear box..... After finding and inserting it, the prototype ran very nicely. You can find a video at http://qik.com/video/29163485. After seeing how maneuverable the prototype was, the general consensus was to go with the holonomic drive train.
We then built a to-scale scoring peg to model gripper methods so we could see how well they placed the rings and to get a general of the dynamics of scoring the rings. It can be clamped at different heights along the stair way to model any of the heights if we want. We concluded that its best to score vertically, but still possible in just about any other orientation.