Beware of R16 your robot design may be too big.

[meaubry]

Yes, this rule does require alot of forethought.

Remember that when slicing horizontal sections, the size of the sphere gets smaller and smaller the farther you get from a centerline section, even though the center point stays in the same location.

Claw radial geometry works best if you keep the pivots as wide as possible.

And after grabbing the ball , you may want to consider doing something with it to get it closer to the robot.

Good Luck all - this one will hurt your brain, but it's all in a good way.

Mike