[Torboticsmember]

Wow, that is almost exactly like our plan, and we have had some trouble with it also, but I think we might have gotten it down. It should work if all of the weight that doesn't need to be in the front is in the back, but I haven't any problems. Also for your pincers you might use rubber with that looks like the opposite of a tire wheel. So hope yours works because that will mean that ours should work.