[Taylor]

As an example: We cannot start with the toroid on our manipulator, because doing so would make part of our robot (read: aluminum) extend past the 38" boundary. However, as long as the toroid is touching the robot, we are in possession. So, we are going to lay the keeper on the ground in front of (and touching) our bot, and write into the autonomous code for the manipulator arm to pivot down and pick up the keeper before going off to score.