as a kind of follow up to everything about the BELAY system; it's not meant to aid you in removing your robot, it's meant to ensure that the robot doesn't fall while you are removing it.
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Q. May the belay system be used to lift the ROBOT a small distance to aid in releasing it from the PYRAMID before lowering the ROBOT after the MATCH?
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A. No. The belay system is meant as a safety against falling ROBOTS, not a removal tool.
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So, I suggest designing a trigger that you can reach to release your robot, and your BELAY attachment points to be closer to the bottom of your robot