[MrForbes]

There were two problems. We did not anticipate how variable the tube inflation would be, and the claw just did not get a good enough grip on tubes that were a bit soft. The second problem was that the tubes could move sideways, they did not want to stay properly oriented.

I think the inside claw will help with both of these problems. This year the goal pegs have a much smaller end cap, so the tube placement action will be different, and more appropriate for an inside grabbing claw.

For the original poster, I suggest you have the students try to shake the tube off the claw by moving the "arm" sideways as if it were on the robot, and the robot were maneuvering as robots do in real games. See if you can hold onto the tube, and that the tube does not move around too much. It could be that this design does work just fine.