From where may/must the robot start in the individual subtasks?

The subtasks can be solved in any order.

For each subtask, the team can choose in which safe area (corner or center circle) the robot should start. The robot can also be carried from one safe area to another within a subtask and continue from there.

Note: The robot may only be touched by hand and realigned or moved to another safe area when at least one wheel is in the safe area; to continue moving, the robot must be completely within a safe area in the top view.