Picking up cans with Lego

While impatiently awaiting the start of Electronics 10 (Mechatronics), I began preparing for the RSSC February PUC (Pick-Up-Cans) contest. I have learned a lot, such as the fact that acrylic paint doesn't dry very fast on soda cans.
The color sensor under the claw points to the floor when the claw is open. This is to detect area colors and black boundary tape. When the claw closes around a can, the color sensor comes up to detect the color of the can.