[Hieb]

While I understand that the robot may not be in possession of multiple tubes, possession of a tube on the ground is defined as being in contact with the robot at more than a single point.

That said, what are your thoughts on grasping a ringer and using it to herd other tubes. In that way only one tube is touching the robot--other tubes would be touching the first tube.

(I know -- difficult to acheive perhaps, but just curious as to your thoughts)