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Ok... my 2 cents part 2
When starfish gets close glass. note which arm is closest. write routine to move away from glass, orient self and crawl up glass. Each arm would have a different move away program to provide a seemingly random crawl up on glass even though in fact it was always the same orientation. To get off glass.. write a slip routine.... where he just falls off.. include a cloud of debris / gravel to accompany the "oops" and hide the recovery (right side up landing)
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