Our team broke down the latest teaser video from FRC and for the REEFSCAPE game. We believe this will be a pick and place game that requires a claw type intake and delivery method for both square and round game pieces. Does anyone have a reference design related to this?
Obviously I have no idea if your guess will be correct, but there was an FTC game (Freight Frenzy) that had both cubes and spheres as the game pieces.
Plenty of robots to look at from that FTC game for ideas!
As a general recommendation though, roller style intakes/manipulators tend to perform better to claw style intakes/manipulators. 
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A lot of 2023 intakes could handle this. If the cylinder is upright. And there are some that are on wrists to solve that problem.
But always make sure you using rolly grabbers.
Check out 118’s rapid react climb Reveal video