No Equipment Constraint: A mission model cannot earn points if it is touching equipment at the end of the match.
The nest is the mission model that holds the leaves and the katydid.
If the katydid is completely removed from the nest at any time, the bonus is no longer available.
If the katydid is outside the leaf habitat at the end of the match, even partly, the team scores zero points for this mission. The leaf habitat includes the nest and the marked area on the mat surrounding it.
For this mission, the referees indicate which leaf contains the katydid. A useful attachment can collect both leaves at once while avoiding the katydid. One option is a pair of latch mechanisms that lower from above, catch the leaves, and then lift them. Make the latches adjustable so each one can sit either at the outer position or toward the middle, allowing the attachment to catch only the leaves.
Another option is a simple fork built with axles that slides under the leaves and lifts them. Because this mission model is close to the left home area, the robot can return directly to home after completing the action to save time.