Since all cubes count the same for scoring purposes, does the skills field need to be set up with cube colors in the "correct" location?
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Official Q&A: VRC 2019-2020: Tower Takeover
454: Skills - Field Set up
Answered by Game Design Committee
Per the Skills Challenge Appendix:
The playing field will be set up exactly the same as a normal VEX Robotics Competition Tower Takeover Match.
Therefore, yes, the playing field should be set up with Cubes in their "correct" locations for all Skills Matches.