I understand that you can pick up your robot up to 3 times out of base and take the touch penalty, but can you pick up the robot 4 or more times? And what is the penalty for the 4th time or more?

My other question is earlier in the listserv discussion there was a question on teamwork challenges at fll tournaments.  Forgive my newbie question, but what is a teamwork challenge and where can this be found in the reference materials?  Somehow I've missed this.  Thanks!