[SenorZ]

If you use your flat palm to lift yourself onto a ledge and support your weight, how would you describe your interaction with the surface? I would call it grabbing. But thats just me.

As a mentor I tell my kids to err on the side of caution; if you think you might be breaking a rule, stop. Then again, we're a small, newish team. Our challenge in FRC is to make something that works and performs basic game functions. Once you have the skills and tools to to accomplish that quickly, you have time to be innovative. Maybe, with some luck, we'll find ourselves in your predicament in the future.