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First off I wouldn't consider the MSC part of the regular season. Chances are having 6 robots able to climb ramps to start with and then be able to coordinate to achieve such a feet are almost nill.
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Wouldn't a lot of robots that are able to drive be able to climb a ramp? As a lot of videos have shown, one robot doesn't even need a bridge manipulator to climb a ramp as long as the other robot trying to climb with it does. So I would say the chances of six robots (especially at some of the stronger regionals/district events) being able to climb the ramp is pretty high. Now whether or not they try to is a different question.
I disagree with Car Nack on this one. I think it'll happen a few times.