1726 made a robot that was able to achieve the goals you stated for a MCC robot. We knew that cans were where the points are, and decided to make a robot that could deal with cans effectively, and also deal with totes less effectively. We figured most other teams would be making stackers that would work at the chute door (yes, chute door) so we decided to make our be able to get totes from the landfill for small stacks, and be able to cap other teams' taller stacks. It worked pretty well, we were in eliminations in our regionals, although we ended being the highest ranked unpicked team in our division at Champs.
The big claw works well for grabbing cans, and can upright them with some practice. It can also grab a tote if needed. The small lower arm will lift a tote onto another, and can make a stack of two relatively easily, but a stack of 3 or 4 is pretty sketchy to move around without falling over.
Bonus points for the relatively low level of fabrication skills and materials needed? The judges at Alamo thought so. And it makes the game interesting to play, every match is different if you're the capping robot