I definitely think you need a powered roller intake.
If you touch a game piece, you need to own it.
Another thing to think about is how is the tube going to react when you pick it up?
The geometry of the current design is set so that once you pick it up, the tube is always going to have a certain angle relative to the arm. This means the robot can only score when the arm is at a certain angle (which makes it difficult/impossible to place tubes once that row is filled).
I would suggest something like what 148 did, where a piston changed the angle of the tube to be parallel to the scoring rack, making it easier to place on a peg. To do this, you will have to change the arm into a 4-bar linkage, or have some other method of keeping the grabbers at a same angle relative to the chassis as the robot lifts its arm.
148 2011 Reveal:
Here