I believe that rule <R05> clearly defines the purpose and usage guidelines for wedges, as you mention for picking up the inner tubes:
Quote:
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Originally Posted by <R05>
<R05> "Wedge” ROBOTS are not allowed. ROBOTS must be designed so that interaction with
opposing ROBOTS results in pushing rather than tipping or lifting. Neither offensive nor
defensive wedges are allowed. All parts of a ROBOT between 0 and 8.5 inches from the
ground (the top of the BUMPER ZONE) that are used to push against or interact with an
opposing ROBOT must be within 10 degrees of vertical. Devices deployed outside the
ROBOT footprint should be designed to avoid wedging. If a mechanism or an appendage
(e.g. a harvester for retrieving GAME PIECES) becomes a wedge that interferes with other
ROBOTS, penalties, disabling, or disqualification can occur depending on the severity of the
infraction.
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