[mechanicalbrain]

I found the best answer to these type of question is to do it yourself and observe. From watching myself do it a couple times you need a gripper that comes from both sides (so as not to push it away) gets under (thin "fingers") and lifts the hoola hoop off the ground as it picks it up. Something like the claws in those stuffed animal game boxs would be perfect though don't give it that third finger that makes it so hard to use!