@1636518501.71EST = =tMAIN =mMAIN_scheduler @EST1636518503.30 #"core_reset"Sent BREAK + #tsbхѕ’bJ‚bJ@0x5F65, state=0x32F4, ifg=0x10, ie=0xFD #@0x6179, state=0x32F4, ifg=0x10, ie=0xFD + #@0x638F, state=0x32F4, ifg=0x10, ie=0xFD #@0x65A5, state=0x32F4, ifg=0x10, ie=0xFD + #@0x67BC, state=0x32F4, ifg=0x10, ie=0xFD #@0x69D2, state=0x32F4, ifg=0x10, ie=0xFD #@0x6AE7, state=0x32F4, ifg=0x80, ie=0xFD + #@0x5D89, state=0x32F4, ifg=0x10, ie=0xFD + #@0x5F65, state=0x32F4, ifg=0x10, ie=0xFD #@0x6179, state=0x32F4, ifg=0x10, ie=0xFD + #@0x638F, state=0x32F4, ifg=0x10, ie=0xFD #@0x65A5, state=0x32F4, ifg=0x10, ie=0xFD + #@0x67BC, state=0x32F4, ifg=0x10, ie=0xFD #@0x69D2, state=0x32F4, ifg=0x10, ie=0xFD #@0x6AE7, state=0x32F4, ifg=0x80, ie=0xFD + #@0x6E67, state=0x333E, ifg=0x00, ie=0xF5 #>OVERRUN< ESP2 v3.20 I2C Gateway v3.01 +9 #>OVERRUN< ESP2 v3.20 I2C Gateway v3.01 for core bus +172 !o:Instrument::ISUSCore:\ @name" ISUS: @refii: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +84 #\ Configuration for chris by iengrstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/chris/configure.rb\ +3 !o:ArgumentError: mesg"(wrong number of arguments (5 for 4):bt["F/home/esp/esp2/type/shallow/chris/configure.rb:40:in `initialize'"?/home/esp/esp2/type/shallow/chris/configure.rb:40:in `new'"6/home/esp/esp2/type/shallow/chris/configure.rb:40"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"1/home/esp/esp2/type/shallow/initialize.rb:57"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +33066 #-> exit +3 #mEXIT @1636518836.75EST @1636519055.81EST = =tMAIN =mMAIN_scheduler @EST1636519057.29 #"core_reset"Sent BREAK + #t@0x5D89, state=0x32F4, ifg=0x10, ie=0xFD + #@0x5F65, state=0x32F4, ifg=0x10, ie=0xFD + #@0x6179, state=0x32F4, ifg=0x10, ie=0xFD #@0x638F, state=0x32F4, ifg=0x10, ie=0xFD + #@0x65A5, state=0x32F4, ifg=0x10, ie=0xFD + #@0x67BC, state=0x32F4, ifg=0x10, ie=0xFD + #@0x69D2, state=0x32F4, ifg=0x10, ie=0xFD #@0x6AE7, state=0x32F4, ifg=0x80, ie=0xFD + #@0x5B1F, state=0x3350, ifg=0x00, ie=0x75 #ESP2 v3.20 I2C Gateway v3.01 +9 #ESP2 v3.20 I2C Gateway v3.01 for core bus +164 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiTi +78 #\ Configuration for chris by iengrstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/chris/configure.rb\ +3 !o:ArgumentError: mesg"(wrong number of arguments (5 for 4):bt["F/home/esp/esp2/type/shallow/chris/configure.rb:40:in `initialize'"?/home/esp/esp2/type/shallow/chris/configure.rb:40:in `new'"6/home/esp/esp2/type/shallow/chris/configure.rb:40"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"1/home/esp/esp2/type/shallow/initialize.rb:57"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +8014 #-> esp +187 #-> exit +3 #mEXIT @1636519141.94EST @1636519147.72EST = =tMAIN =mMAIN_scheduler @EST1636519149.20 #"core_reset"Sent BREAK + #t@0x5D89, state=0x32F4, ifg=0x10, ie=0xFD + #@0x5F65, state=0x32F4, ifg=0x10, ie=0xFD + #@0x6179, state=0x32F4, ifg=0x10, ie=0xFD #@0x638F, state=0x32F4, ifg=0x10, ie=0xFD + #@0x65A5, state=0x32F4, ifg=0x10, ie=0xFD + #@0x67BC, state=0x32F4, ifg=0x10, ie=0xFD + #@0x69D2, state=0x32F4, ifg=0x10, ie=0xFD #@0x6AE7, state=0x32F4, ifg=0x80, ie=0xFD + #@0x7694, state=0x3350, ifg=0x00, ie=0x75 #ESP2 v3.20 I2C Gateway v3.01 +9 #ESP2 v3.20 I2C Gateway v3.01 for core bus +163 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refii +78 #\ Configuration for chris by iengrstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/chris/configure.rb\ +3 !o:ArgumentError: mesg"(wrong number of arguments (5 for 4):bt["F/home/esp/esp2/type/shallow/chris/configure.rb:40:in `initialize'"?/home/esp/esp2/type/shallow/chris/configure.rb:40:in `new'"6/home/esp/esp2/type/shallow/chris/configure.rb:40"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"1/home/esp/esp2/type/shallow/initialize.rb:57"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +499 #-> exit +2 #mEXIT @1636519156.82EST @1636524927.91EST = =mMAIN_scheduler =ECan =tMAIN @EST1636524929.63 #"core_reset"Sent BREAK + #t@0x5D89, state=0x32F4, ifg=0x10, ie=0xFD + #@0x5F65, state=0x32F4, ifg=0x10, ie=0xFD + #@0x6179, state=0x32F4, ifg=0x10, ie=0xFD #@0x638F, state=0x32F4, ifg=0x10, ie=0xFD + #@0x65A5, state=0x32F4, ifg=0x10, ie=0xFD + #@0x67BC, state=0x32F4, ifg=0x10, ie=0xFD + #@0x69D2, state=0x32F4, ifg=0x10, ie=0xFD #@0x6AE7, state=0x32F4, ifg=0x80, ie=0xFD + #@0x0952, state=0x3350, ifg=0x00, ie=0x75 #\ESP2 v3.20 I2C Gateway v3.01 +9 #\ESP2 v3.20 I2C Gateway v3.01 +333 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiq:\ @name@ +91 #\ Configuration for chris by iengrstrom@mclanelabs.com\ /home/esp/esp2local-21nov/shallow/chris/configure.rb\ +248 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["8/home/esp/esp2local-21nov/shallow/initialize.rb:152" Elbow.config +1223 #-> Elbow.legnd +2 !o:NoMethodError : mesgu:NameError::message-undefined method `legnd' for Elbow:Slide: name:\ legnd: args[:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:177:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"8/home/esp/esp2local-21nov/lib/esp.rb:204:in `shell'"B/home/esp/esp2local-21nov/lib/schedule.rb:484:in `initialize'" Elbow.legend +57347 En\ OO +60001 q\ PO +60001 o\ OO +5034 #t-> cd +2 !o:NameError: mesgu:NameError::message exit +11 #m\EXIT @1636526787.99EST @1636526860.49EST = =tMAIN =mMAIN_scheduler @EST1636526861.98 #"core_reset"Sent BREAK + #t@0xC474, state=0x3380, ifg=0x20, ie=0x7F + #@0xCA51, state=0x3380, ifg=0x08, ie=0x5F + #@0x3F0C, state=0x3380, ifg=0x20, ie=0x7F #@0x4056, state=0x3380, ifg=0x20, ie=0x7F + #@0x4484, state=0x3380, ifg=0x20, ie=0x7F + #@0x4530, state=0x3380, ifg=0x20, ie=0x7F #@0x48E2, state=0x3380, ifg=0x20, ie=0x7F + #@0x4D3C, state=0x3380, ifg=0x08, ie=0x5F + #@0x15D3, state=0x3350, ifg=0x00, ie=0x75 #ESP2 v3.20 I2C Gateway v3.01 +9 #ESP2 v3.20 I2C Gateway v3.01 for core bus +164 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiri +75 #Configuration for chris 11/9/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/chris/configure.rb\ +300 "Can"o\ VU + o\ VU + #tPolling Can every 10:00 +2 #Cleanly exited at 01:46:27EST10-Nov-21 +766 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +2 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %ѝ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %G\ 6\ 4\ + .tSS.configure :default +2 "sampler")#.0X ESP.shutdown +3 #Asleep / Shutdown +32 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF +2 #Shutdown +326 #t-> ESP.ready! +3 #Powering core bus +534 .Gate.power :raw,:ON +2 "sampler") + )3 +2 "core"  +2 "collection"' + '4 +2 "core"  +2 "processing"% + %5 +2 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'6% +3 "core" % + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%7% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")8% +3 "core" %\ 8\ 3\ + .tSS.configure :default +2 "sampler")#.0X% +3 "core" % \ + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"'?  + "core" + .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast +2 "processing"%@  + "core" +2 .tPH.configure :default + "processing"%\  2 +2 #tAll dwarf controllers running firmware version 3.74 +2 "sampler") +9 "collection"'A% +2 "processing"%B% +3 "core" % \ + "manipulator"&C% +2 ."rdySampler"Intake.select :close +5 .Exhaust.select :close + .CTV.dial :air +2 "collection"'D  +2 "core" %\ + %  y +2 "manipulator"&E% + ."rdyProcessing"PSV.dial :air +3 "processing"%F  +2 "core"  + % | n C x + ."rdySampler"CSV.dial :waste1 +3 .tForearm.reconfigure :loose +2 "collection"'G + "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +3 "manipulator"&H'  +2 "core"  + + ."rdySampler"SSV.dial :spit,avoiding: :exhaust +3 ."rdyProcessing"PS.reconfigure :default +2 "sampler")I + "processing"%#A d`xb +3 ."rdyProcessing"PS.home.seek 0ml +3 "processing"%J' +2 "core"  + "sampler")K  +5 "core"  +2 ."readyCS"CS.reconfigure :fast +3 ."rdySampler"SS.reconfigure :default +3 "collection"'#d @b + "sampler")#.0X ESP.ready! +2 "collection"'Q% +2 "processing"%R% +2 "core" %ѝ\ +2 "manipulator"&S% +4 "sampler")T% +7 "core" %\ + %   yO- + %@\ 6\ 3\ + "manipulator"&U& +3 "core" &g  y + "manipulator"&V% +3 "core" %   yO- + "manipulator"&W& +3 "core" &g  y + .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&X'  +100 "core" ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$Q &.,(#b +2 .tElbow.jog 1500 +2 "manipulator"&Y* +42 "core" *iM}  zb +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear +2 "manipulator"&Z( +34 "core" (i`}  yb +2 !to:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @tagi_: @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeF: positioni`i: velocityi: currenti}:pwmig:erri: inPressi : outPressi :deltaPressi: voltagef12.068761904761905S{: @type2F:@destinationi%: mesg"&Elbow speedErr at 3 - 8444 counts:@axisName"\ Elbow:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"1/home/esp/esp2/utils/misc.rb:145:in `ready!'"3/home/esp/esp2/utils/storage.rb:34:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1569 #-> exit +5 #mEXIT @1636526935.78EST @1636527044.23EST = =mMAIN_scheduler =ECan =tMAIN @EST1636527045.88 #"core_reset"Sent BREAK + #t@0x6497, state=0x32F4, ifg=0x10, ie=0xFD + #@0x66AD, state=0x32F4, ifg=0x10, ie=0xFD + #@0x68C3, state=0x32F4, ifg=0x10, ie=0xFD #@0x6AD9, state=0x32F4, ifg=0x10, ie=0xFD + #@0x6CEF, state=0x32F4, ifg=0x10, ie=0xFD + #@0x6F05, state=0x32F4, ifg=0x10, ie=0xFD + #@0x711A, state=0x32F4, ifg=0x10, ie=0xFD #@0x7230, state=0x32F4, ifg=0x80, ie=0xFD + #@0xDE8A, state=0x3350, ifg=0x00, ie=0x75 #\ESP2 v3.20 I2C Gateway v3.01 +9 #\ESP2 v3.20 I2C Gateway v3.01 +285 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiq:\ @name@ +84 #\ Configuration for chris by iengrstrom@mclanelabs.com\ /home/esp/esp2local-21nov/shallow/chris/configure.rb\ +234 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["8/home/esp/esp2local-21nov/shallow/initialize.rb:152" ESP.shutdown +2 #Asleep / Shutdown +3 ."shutdown"SS.coast +2 "sampler")5 +2 ."shutdown"CS.coast +2 "collection"'5 +2 ."shutdown"Forearm.coast +2 "manipulator"&5 +34 ."shutdown"Sleepy.power :raw,:OFF +2 .Sleepy.power :dwarf,:OFF + #Shutdown +349 #t-> ESP.ready! +3 "processing"%% + "collection"'% +3 "manipulator"&% +247 !"rdyProcessing"o:I2C::SoftErr: mesg"%Bus Error writing to processing :bt["4/home/esp/esp2local-21nov/lib/msg.rb:82:in `[]'"7/home/esp/esp2local-21nov/lib/msg.rb:82:in `retry'":/home/esp/esp2local-21nov/lib/axis.rb:240:in `status'"26]: @requesto:I2C::Servo::Status3Request : @tag0:@maxDelayf7: @replyqo:\ Queue: @waiting[: @que[:@destinationi+: @dontLog0:@repeatRate0: @channeli: @timeout0:bt["4/home/esp/esp2local-21nov/lib/msg.rb:82:in `[]'"7/home/esp/esp2local-21nov/lib/msg.rb:82:in `retry'":/home/esp/esp2local-21nov/lib/axis.rb:240:in `status'"/home/esp/esp2local-21nov/utils/storage.rb:24:in `ready?'"/home/esp/esp2local-21nov/utils/storage.rb:24:in `ready?'"25]: @requesto:I2C::Servo::Status3Request : @tag0:@maxDelayf7: @replyqo:\ Queue: @waiting[: @que[:@destinationi*: @dontLog0:@repeatRate0: @channeli: @timeout0:bt["4/home/esp/esp2local-21nov/lib/msg.rb:82:in `[]'"7/home/esp/esp2local-21nov/lib/msg.rb:82:in `retry'":/home/esp/esp2local-21nov/lib/axis.rb:240:in `status'"27]: @requesto:I2C::Servo::Status3Request : @tag0:@maxDelayf7: @replyqo:\ Queue: @waiting[: @que[:@destinationi,: @dontLog0:@repeatRate0: @channeli: @timeout0:bt["4/home/esp/esp2local-21nov/lib/msg.rb:82:in `[]'"7/home/esp/esp2local-21nov/lib/msg.rb:82:in `retry'":/home/esp/esp2local-21nov/lib/axis.rb:240:in `status'"?/home/esp/esp2local-21nov/utils/sampler.rb:265:in `ready?'"25] while reading Processing Syringe's status:@checkpoint: omitted:@timestampu: Time Fi: @requesto:I2C::Servo::Status3Request : @tag0:@maxDelayf7: @replyqo:\ Queue: @waiting[: @que[:@destinationi*: @dontLog0:@repeatRate0: @channeli: @timeout0:bt["25] while reading Processing Syringe's status",Subject: "I2C::Request::Timeout in rdyProcessing" +4 !to:Thread::ChildDied : @causeo:I2C::Request::Timeout\ : mesg"aNo Response to I2C::Servo::Status3Request[1A:->25] while reading Processing Syringe's status:@timestampu: Time Fi:@checkpoint: omitted: @requesto:I2C::Servo::Status3Request : @tag0:@maxDelayf7: @replyqo:\ Queue: @waiting[: @que[:@destinationi*: @dontLog0:@repeatRate0: @channeli: @timeout0:bt[ "27] while reading Collection Syringe's status:@checkpoint: omitted:@timestampu: Time Fi: @requesto:I2C::Servo::Status3Request : @tag0:@maxDelayf7: @replyqo:\ Queue: @waiting[: @que[:@destinationi,: @dontLog0:@repeatRate0: @channeli: @timeout0:bt["27] while reading Collection Syringe's status:@timestampu: Time Fi:@checkpoint: omitted: @requesto:I2C::Servo::Status3Request : @tag0:@maxDelayf7: @replyqo:\ Queue: @waiting[: @que[:@destinationi,: @dontLog0:@repeatRate0: @channeli: @timeout0:bt[ " exit +228 ."Qmail"BadNews.email "No Response to I2C::Servo::Status3Request[1C:->27] while reading Collection Syringe's status",Subject: "I2C::Request::Timeout in rdySampler" +84 !to:SignalException: mesg" SIGQUIT:\ signoi:bt[\ "8/home/esp/esp2local-21nov/lib/esp.rb:97:in `atExit'"9/home/esp/esp2local-21nov/lib/threads.rb:730:in `[]'" Elbow.legend +1551 #-> Elbow.home.to :clear +2 .\Elbow.reconfigure LooseElbow +2 "manipulator"&$ &.,(#b +2 .t\Elbow.home.seek :clear +2 "manipulator"&(d +576 "core" ( +2 "manipulator"&& +3 "core" &d  y!s +1376 #t-> Elbow.to 5 +2 .\Elbow.seek 5 + "manipulator"&( +100 "core" ( +2 "manipulator"&& +2 "core" & % y$ +349 #t-> Elbow.to 7 +2 .\Elbow.seek 7 +2 "manipulator"&(E +23 "core" ( +2 "manipulator"&& +2 "core" &Q |  x +723 #t-> ESP.ready! +3 "collection"'% +2 "manipulator"&% +2 "processing"%% +4 "core" % +4 ."rdySampler"Intake.select :close +2 .\Exhaust.select :close + .CTV.dial :air +2 "collection"'  + "core" % | x +2 %\  + "manipulator"&% +2 ."rdyProcessing"PSV.dial :air +4 ."rdySampler"CSV.dial :waste1 +2 "processing"%  + "collection"' +3 "core" % | | x +3 .tForearm.reconfigure LooseForearm + "manipulator"&#@2^d^2b +2 "core"  + .tForearm.home.seek :retract +4 ."rdyProcessing"PS.reconfigure PSconfig +3 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +2 "manipulator"&' + "processing"%#A d`xb +2 "sampler") +5 ."rdyProcessing"PS.home.seek 0ml +2 "processing"%' +2 "core"  + "sampler")  +4 "core"  +2 ."rdySampler"SS.reconfigure SSconfig +3 ."readyCS"CS.reconfigure CSfast +3 "sampler")#.0X% +3 "core" % y\ + "collection"'?9 +3 "core" 9F< + "processing"%@9 +2 "core" 9S4 +2913 #t-> Elbow.legend +8674 #-> SC.legend +34887 Er\ FF +60002 o\ FF +56616 #t-> exit +12 #m\EXIT @1636528926.63EST @1636528964.00EST = =tMAIN =mMAIN_scheduler @EST1636528965.48 #"core_reset"Sent BREAK + #t@0xC512, state=0x32F4, ifg=0x10, ie=0xFD + #@0xC71C, state=0x32F4, ifg=0x10, ie=0xFD + #@0xC926, state=0x32F4, ifg=0x10, ie=0xFD #@0xCB30, state=0x32F4, ifg=0x10, ie=0xFD + #@0xCD37, state=0x32F4, ifg=0x10, ie=0xFD + #@0xCF4A, state=0x32F4, ifg=0x10, ie=0xFD + #@0xD17C, state=0x32F4, ifg=0x10, ie=0xFD #@0xD29C, state=0x32F4, ifg=0x80, ie=0xFD + #@0x437D, state=0x3350, ifg=0x00, ie=0x75 #ESP2 v3.20 I2C Gateway v3.01 +9 #ESP2 v3.20 I2C Gateway v3.01 for core bus +163 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refii +76 #Configuration for chris 11/9/21 brent@mbari.org\ /home/esp/esp2/type/shallow/chris/configure.rb\ +286 "Can"u\ MM + u\ MM + #tPolling Can every 10:00 +2 #Cleanly exited at 02:22:06EST10-Nov-21 +607 #-> ESP.configure +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % + "core"  +5 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %џ  + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %I\ 4\ 5\ + .tSS.configure :default +2 "sampler")#.0X ESP.shutdown +3 #Asleep / Shutdown +31 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF +2 #Shutdown +369 #t-> ESP.ready! +3 #Powering core bus +554 .Gate.power :raw,:ON +2 "sampler") + ) +2 "core"  +2 "collection"' + ' +2 "core"  +2 "processing"% +2 % + "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %  + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ 6\ 6\ + .tSS.configure :default +2 "sampler")#.0X& +2 "collection"'?& +5 "core" &\ + &  + ."openPC"PC.reconfigure :default +3 .tCC.reconfigure :default +3 "processing"%$x2 ^22b + "collection"'$x2 ^22b +3 ."openPC"PC.home.seek :open +3 .tCC.home.seek :open + "processing"%@(p + "collection"'A( +311 "core" ( +43 ( +2 "collection"'B +2 "core"  +2 "processing"%C +2 "core" V +2 "processing"%D +3 "core"  + "processing"%E +2 "core"  +2 "collection"'F% +3 "core" %њ  + "processing"%G% +46 "core" %\ + "sampler")H% +3 "core" %J\ 7\ 3\ +2 "collection"'I& +3 "core" &t  + "processing"%J& +3 "core" &Z\  + "manipulator"&K% +3 "core" %  ~ x + "manipulator"&L& +3 "core" &v  y!v + "storage"(M& +3 "core" &~ E\  + "storage"(N% +3 "core" % I\  + "collection"'O9 +2 "core" 9NE +2 "processing"%P9 +2 "core" 9Z= +933 #t-> Puck.count +2 "storage"(Q% +3 "core" % <\  + .tSE.seek :down +2 "storage"(R' +2 "core" ' + .tSE.stop +2 "storage"(5 +2 .tHand.open + "manipulator"&S1 +56 "core" 1 + "manipulator"&T% +3 "core" %   y + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 +2 "storage"(U( +361 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +2 (V& +3 "core" & f d\ + "manipulator"&W& +3 "core" &v ~  + x!v + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&X(m +3 "core" ( + "manipulator"&Y& +3 "core" &v s z  x!v + "storage"(Z& +3 "core" & ~\ +2 .tForearm.seek 1 + 450 counts + "manipulator"&[' +111 "core" ' +2 "storage"(\\& +4 "core" & \ + .tSE.reconfigure :place +2 "storage"(#].K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'U +274 "core" ' + "storage"(^- +2 "core" -'U +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_% +2 "core" %K [ v \ \ +2 ."downElevator"SE.seek :down +3 "storage"(`' +98 (a% +3 "core" %F y \ UY + "manipulator"&b% +3 "core" % 2 y + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +99 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(d( +195 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +2 (e& +3 "core" &  g k\  + "manipulator"&f& +3 "core" &w ~ H y!u + .tElbow.seek 2 +2 "manipulator"&g(h +33 "core" ( + "manipulator"&h& +3 "core" &r  y + "storage"(i& +3 "core" & l {\  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&j' +102 "core" ' + "storage"(k& +3 "core" & m { t\  + .tSE.reconfigure :place +2 "storage"(#].K-0-\ b +7 .tSE.seek :beamBreak + "storage"(l'U +274 "core" ' + "storage"(m- +2 "core" -'U +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n% +2 "core" %X z n ;\ +2 ."downElevator"SE.seek :down +3 "storage"(o' +98 (p% +3 "core" %G \ \ TX + "manipulator"&q% +3 "core" % |  y + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +108 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(s( +191 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +2 (t& +3 "core" & ^ g\  + "manipulator"&u& +3 "core" &r ; y + .tElbow.seek 3 +2 "manipulator"&v(u +2 "core" ( +2 "manipulator"&w& +3 "core" &r  y + "storage"(x& +3 "core" & }\  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&y't +90 "core" ' + "storage"(z& +3 "core" &  E\  + .tSE.reconfigure :place +2 "storage"(#].K-0-\ b +7 .tSE.seek :beamBreak + "storage"({'U +275 "core" ' + "storage"(|- +2 "core" -'U +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}% +2 "core" %L c e\ +2 ."downElevator"SE.seek :down +3 "storage"(~' +98 (% +3 "core" %%F _ ] G\ TX + "manipulator"&% +3 "core" %q  x + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +103 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"((,I +186 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +2 (& +3 "core" &,F g i\  + "manipulator"&& +3 "core" &r  y + .tElbow.seek 4 +2 "manipulator"&(x +3 "core" ( + "manipulator"& & +3 "core" &r  y + "storage"( & +3 "core" &,@ \  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& 'Ϻ +99 "core" ' + "storage"(& +3 "core" &,@ \  + .tSE.reconfigure :place +2 "storage"(#].K-0-\ b +7 .tSE.seek :beamBreak + "storage"('U +278 "core" ' + "storage"(- +2 "core" -'U +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (% +3 "core" %O Y d :\ +2 ."downElevator"SE.seek :down +3 "storage"(' +98 (% +3 "core" %J Z d *\ UZ + "manipulator"&% +3 "core" % | B x + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"((< +189 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +2 (& +3 "core" &< f ]\  + "manipulator"&& +3 "core" &r 2 y + .tElbow.seek 5 +2 "manipulator"&( +40 "core" ( + "manipulator"&& +3 "core" & v D y' + "storage"(& +3 "core" &< l p f\  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'ϋ +104 "core" ' + "storage"(!& +3 "core" &< :\  + .tSE.reconfigure :place +2 "storage"(#].K-0-\ b +7 .tSE.seek :beamBreak + "storage"("'U +277 "core" ' + "storage"(#- +2 "core" -'U +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ($% +3 "core" %G X [ (\ +2 ."downElevator"SE.seek :down +3 "storage"(%' +98 ('% +3 "core" %N P \\ 2\ U[ + "manipulator"&&% +3 "core" %ϓ  y + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +100 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"()(K +189 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +2 (*& +3 "core" &K Z X j\  + "manipulator"&+& +3 "core" &  y' + .tElbow.seek 6 +2 "manipulator"&,(y +29 "core" ( + "manipulator"&/& +3 "core" &  y + "storage"(2& +3 "core" &K ^ b \  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'{ +92 "core" ' + "storage"(& +3 "core" &K ?\  + .tSE.reconfigure :place +2 "storage"(#].K-0-\ b +7 .tSE.seek :beamBreak + "storage"('U +275 "core" ' + "storage"(- +2 "core" -'U +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3% +2 "core" %J j P\ +2 ."downElevator"SE.seek :down +3 "storage"(5' +98 (% +3 "core" %M d g 8\ UZ + "manipulator"&% +3 "core" %x } / x0 + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +99 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(.([o +186 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +2 (;& +3 "core" &[l ^ g m\  + "manipulator"&=& +3 "core" & | y + .tElbow.seek 7 +2 "manipulator"&>(E +37 "core" ( + "manipulator"&?& +3 "core" &Z  yM + "storage"(-& +3 "core" &[j b ] X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&4' +117 "core" ' + "storage"(9& +3 "core" &[j \  + .tSE.reconfigure :place +2 "storage"(#].K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'U +275 "core" ' + "storage"(\ - +2 "core" -'U +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B% +2 "core" %O Z e O\ +2 ."downElevator"SE.seek :down +3 "storage"(C' +98 (D% +3 "core" %F ] e a\ TW + "manipulator"&E% +3 "core" %' y | 4 x"1 + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +84 "core" ' +78 ' + ."downElevator"SE.stop + "storage"(5 +2718 #t-> exit +4 #mEXIT @1636529117.71EST @1636529171.67EST = =tMAIN =mMAIN_scheduler @EST1636529173.16 #"core_reset"Sent BREAK + #t@0xFD12, state=0x32E2, ifg=0x10, ie=0xF5 + #@0xFF28, state=0x32F4, ifg=0x10, ie=0xFD + #@0x013E, state=0x32F4, ifg=0x10, ie=0xFD #@0x0354, state=0x32F4, ifg=0x10, ie=0xFD + #@0x046A, state=0x32F4, ifg=0x80, ie=0xFD + #@0xBA9E, state=0x3380, ifg=0x20, ie=0x7F #@0xBBE7, state=0x3380, ifg=0x20, ie=0x7F + #@0xC11E, state=0x3380, ifg=0x08, ie=0x5F + #@0xA9EB, state=0x3350, ifg=0x00, ie=0x75 #ESP2 v3.20 I2C Gateway v3.01 +9 #ESP2 v3.20 I2C Gateway v3.01 for core bus +164 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refii +75 #Configuration for chris 11/9/21 brent@mbari.org\ /home/esp/esp2/type/shallow/chris/configure.rb\ +286 "Can"t\ LL + t\ LL + #tPolling Can every 10:00 +2 #Cleanly exited at 02:25:17EST10-Nov-21 +3932 #-> GoodNews.email "Finally updated as best as we can on the old CPU." +2 .GoodNews.email "Finally updated as best as we can on the old CPU." +56005 "Can"r\ EE +60001 q\ DE +55427 #t-> exit +3 #mEXIT @1636530932.33EST @1636564762.56EST = =mMAIN_scheduler =tMAIN @EST1636564764.04 #"core_reset"Sent BREAK + #t@0xFD12, state=0x32E2, ifg=0x10, ie=0xF5 + #@0xFF28, state=0x32F4, ifg=0x10, ie=0xFD + #@0x013E, state=0x32F4, ifg=0x10, ie=0xFD #@0x0354, state=0x32F4, ifg=0x10, ie=0xFD + #@0x046A, state=0x32F4, ifg=0x80, ie=0xFD + #@0xBA9E, state=0x3380, ifg=0x20, ie=0x7F #@0xBBE7, state=0x3380, ifg=0x20, ie=0x7F + #@0xC11E, state=0x3380, ifg=0x08, ie=0x5F + #@0x8964, state=0x3350, ifg=0x00, ie=0x75 #ESP2 v3.20 I2C Gateway v3.01 +9 #ESP2 v3.20 I2C Gateway v3.01 for core bus +163 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi\\i +76 #Configuration for chris 11/9/21 brent@mbari.org\ /home/esp/esp2/type/shallow/chris/configure.rb\ +287 "Can"Lr\ LL + Lr\ LL + #tPolling Can every 10:00 +2 #Cleanly exited at 02:55:32EST10-Nov-21 +618 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +2 "core"  +5 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %њ  + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %J\ G\ D\ + .tSS.configure :default +2 "sampler")#.0X acces 1 + !o:NoMethodError : mesg".undefined method `acces' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +296 #-> access 1 +3 "storage"(2% +2 "core" % l m c\ +2 "manipulator"&3% +3 "core" %   y + "manipulator"&4& +3 "core" &Z ~   xM + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(5(< +355 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +2 (6& +3 "core" &< j j \ +58043 "Can"Ro\ EE +60001 Zl\ EE +60002 Mo\ ED +60001 <s\ EE +60001 6v\ EE +60001 @r\ EE +60001 Qt\ EE +60001 =v\ EE +60002 Nz\ EE +60000 \ EE +60002 C}\ FD +60000 |\ EE +21947 #"brent"Session Begun +296 #-> showlog +734 #-> showlog 400 +1090 #-> pucks +1371 #-> Puck.count +2 "storage"(7% +4 "core" % '\ + ."brent"SE.seek :down +3 "storage"(8' +4 "core" ' + ."brent"SE.stop + "storage"(5 +3 ."brent"Hand.open +2 "manipulator"&91 +25 "core" 1 + "manipulator"&:% +3 "core" %   y +2 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 1 +2 "storage"(;( +664 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 (<& +3 "core" & U M \ + "manipulator"&=& +3 "core" &Z  yM + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Elbow.seek 1 +2 "manipulator"&>(m +36 "core" ( + "manipulator"&?& +3 "core" &  y +2 "storage"(@& +3 "core" & c [ 1\ + ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 1 + 450 counts +2 "manipulator"&A' +107 "core" ' + "storage"(B& +3 "core" & m y \ +2 ."brent"SE.reconfigure :place +2 "storage"(#].K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"(C'U +313 "core" ' + "storage"(D- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +5 (E% +2 "core" % Z X\ +44 ."downElevator"SE.seek :down +3 "storage"(F' +98 (G% +3 "core" %= c Z 3\ ST + "manipulator"&H% +3 "core" % i  y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +3 "manipulator"&I' +96 "core" ' +42 ' + ."downElevator"SE.stop + "storage"(5 +4 ."brent"SC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 2 +2 "storage"(J( +196 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 (K& +3 "core" & N M [\ + "manipulator"&L& +3 "core" &  y + ."brent"Elbow.seek 2 +2 "manipulator"&M(h +19 "core" ( + "manipulator"&N& +3 "core" &q  y + "storage"(O& +3 "core" & [ [ \ +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek 2 + 450 counts +2 "manipulator"&P' +108 "core" ' + "storage"(Q& +3 "core" & X W O\ +2 ."brent"SE.reconfigure :place +2 "storage"(#].K-0-\ b +4 ."brent"SE.seek :beamBreak + "storage"(R'U +276 "core" ' + "storage"(S- +2 "core" -'U +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (T% +3 "core" %M H K \ +2 ."downElevator"SE.seek :down +4 "storage"(U' +97 (V% +3 "core" %> 8 5\ TX + "manipulator"&W% +3 "core" %  y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +3 "manipulator"&X' +111 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 3 +2 "storage"(Y( +195 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 (Z& +3 "core" & N L \  + "manipulator"&[& +3 "core" &q  y + ."brent"Elbow.seek 3 +2 "manipulator"&\\(u +5 "core" ( + "manipulator"&]& +3 "core" &q z R y + "storage"(^& +3 "core" &} e b M\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek 3 + 450 counts +2 "manipulator"&_'t +108 "core" ' + "storage"(`& +3 "core" &} ~ ~ %\  +2 ."brent"SE.reconfigure :place +2 "storage"(#].K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"(a'U +275 "core" ' + "storage"(b- +3 "core" -'U + ."brent"SE.configure :default +3 "storage"(#QK-0-\ b +3 (c% +3 "core" %O W c Y\ +2 ."downElevator"SE.seek :down +4 "storage"(d' +97 (e% +3 "core" %@ Z X \ SV + "manipulator"&f% +3 "core" %h { + y@ +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +3 "manipulator"&g' +94 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ."brent"SC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 ."brent"SC.seek 4 +2 "storage"(h(,I +186 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 (i& +3 "core" &,F K M \ + "manipulator"&j& +3 "core" &q  y + ."brent"Elbow.seek 4 +2 "manipulator"&k(x +4 "core" ( + "manipulator"&l& +3 "core" &q  y + "storage"(m& +3 "core" &,@ \\ X &\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek 4 + 450 counts +2 "manipulator"&n'Ϻ +100 "core" ' + "storage"(o& +3 "core" &,@ X [ +\  +2 ."brent"SE.reconfigure :place +2 "storage"(#].K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"(p'U +278 "core" ' + "storage"(q- +3 "core" -'U + ."brent"SE.configure :default +3 "storage"(#QK-0-\ b +3 (r% +3 "core" %S L K \ +2 ."downElevator"SE.seek :down +4 "storage"(s' +97 (t% +3 "core" %>> B C\ SV + "manipulator"&u% +3 "core" %ϻ v  x +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +3 "manipulator"&v' +97 "core" ' +74 ' + ."downElevator"SE.stop +2 "storage"(5 +4 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 5 +2 "storage"(w(< +191 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 (x& +3 "core" &<\ > H \  + "manipulator"&y& +3 "core" &q x , x + ."brent"Elbow.seek 5 +2 "manipulator"&z( +35 "core" ( + "manipulator"&{& +3 "core" &  y$ + "storage"(|& +3 "core" &< [ Y\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek 5 + 450 counts +2 "manipulator"&}'ϋ +117 "core" ' + "storage"(~& +3 "core" &< Y Y ,\  +2 ."brent"SE.reconfigure :place +2 "storage"(#].K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"('U +278 "core" ' + "storage"(- +2 "core" -'U +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (% +3 "core" %S K E \ +2 ."downElevator"SE.seek :down +4 "storage"(' +97 (% +3 "core" %G= Y Z \ SV + "manipulator"&% +3 "core" %Ϙ  y9 +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +3 "manipulator"&' +88 "core" ' +74 ' + ."downElevator"SE.stop +2 "storage"(5 +4 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 6 +2 "storage"( (K +185 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 ( & +3 "core" &K ; ! .\  + "manipulator"& & +3 "core" &  y$ + ."brent"Elbow.seek 6 +2 "manipulator"&(y +26 "core" ( + "manipulator"&& +3 "core" & g X y + "storage"(& +3 "core" &K [ Y \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek 6 + 450 counts +2 "manipulator"&'{ +108 "core" ' + "storage"(& +3 "core" &K ` x \  +2 ."brent"SE.reconfigure :place +2 "storage"(#].K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"('U +277 "core" ' + "storage"(- +2 "core" -'U +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (% +3 "core" %O B S n\ +2 ."downElevator"SE.seek :down +4 "storage"(' +97 (% +3 "core" %b< Y [ \ SU + "manipulator"&% +3 "core" %Ϟ y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +3 "manipulator"&' +93 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +4 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 7 +2 "storage"(([o +190 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 (& +3 "core" &[o N N\  + "manipulator"&& +3 "core" &  y + ."brent"Elbow.seek 7 +2 "manipulator"& (E +42 "core" ( + "manipulator"&!& +3 "core" &X  yI +2 "storage"("& +3 "core" &[m F O\  + ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 7 + 450 counts +2 "manipulator"&#' +126 "core" ' + "storage"($& +3 "core" &[m g l Y\  +2 ."brent"SE.reconfigure :place +2 "storage"(#].K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"(%'U +278 "core" ' + "storage"(&- +2 "core" -'U +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 ('% +3 "core" %G [ Z 0\ +2 ."downElevator"SE.seek :down +4 "storage"((' +97 ()% +3 "core" %FD Y Z \ TW + "manipulator"&*% +3 "core" %  y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +3 "manipulator"&+' +99 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +1223 #"brent"-> require'suffle' +3 !o:LoadError: mesg"#no such file to load -- suffle:bt["brent:5:in `require'"!brent:5:in `topLevelBinding'" require 'shuffle' +610 #-> shuffle2 +2 #Shuffling two pucks from tube 1 to 2 of [1..7] +4 #Loading generic puck from tube 1 into Collection Clamp +2 "collection"',& +5 "core" &t  + "manipulator"&-% +3 "core" %   x + "storage"(.% +3 "core" % i _\ + "storage"(/. +2 "core" .([o +2 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 1 +2 "storage"(0( +984 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 (1& +3 "core" & ! 9\ + "manipulator"&2& +3 "core" &X  yI + ."brent"Elbow.seek 1 +2 "manipulator"&3(m +46 "core" ( + "manipulator"&4& +3 "core" &z  x% + "storage"(& +3 "core" & E J \ +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 1 + 450 counts +2 "manipulator"&6' +113 "core" ' + "storage"(7& +3 "core" & K [\ +2 ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 ."brent"SE.seek :beamBreak +57 "storage"(9'U +295 "core" ' + "storage"(:- +2 "core" -'. +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (8& +3 "core" & K K\ + "manipulator"&5& +3 "core" &z s y% + ."brent"Elbow.seek 1 +2 "manipulator"&<(m +28 "core" ( + "manipulator"&=& +3 "core" &t x x + "storage"(?& +3 "core" & E C \ +2 ."brent"Forearm.seek 1 + 300 counts + "manipulator"&@'I +26 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&B/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +5 "core" &t y + "manipulator"&D% +4 "core" % ?   y +2 ."brent"Forearm.seek :retract +2 "manipulator"&E' +106 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&G( +139 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&H& +4 "core" & z x + ."brent"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &C& +3 "core" & q x +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek CC +2 "manipulator"&A'& +89 "core" ' +2 "manipulator"&K& +3 "core" &  y +2 "manipulator"&L% +4 "core" %  y2 + "collection"'N& +4 "core" &t \  +2 "collection"'O& +4 "core" &t \  +2 ."brent"CC.seek :closed +2 "collection"'F(W +4 "core" &t  +8 &D\ \ $f +9 &VS \ 8 +10 &\ M +9 &__\ \ O +9 &!^\ O +10 &_ \ P +9 &_ \ O +9 &g] \ O +10 & (\\\ \ P +9 &!` \ O +10 &#] \ O +9 &%n\\ \ P +9 &'1`\ O +10 &(b \ P +9 &*^\ P +9 &,v]\ \ P +10 &.9b\ \ O +9 &/b\ P +10 &1^\ P +9 &3~]\ \ P +9 &5A`\ O +10 &7b\ \ O +9 &8` \ O +9 &:b\ P +10 & ]\ \ O +10 &?[\ \ O +9 &A\\\ O +9 &CQ] \ O +10 &EY\ \ O +9 &Fd\ P +9 &Hk\ Q +10 &JPz \ R +9 &L  \ U +10 &M\ W +9 &O \ X +9 &QD\ Y +10 &S\ Z +9 &T \ Z +9 &V\ G +10 &W< \ #k +9 &Wn \ M +5 ( + "collection"'O& +4 "core" &Wh \ M + #"brent"Collection Clamp onSpring/offSpring for 8/27 samples, on/off torque 1.88 +2 .Hand.open +3 "manipulator"&;1 +54 "core" 1 + "manipulator"&Q% +3 "core" % { 9 y2 +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&>' +90 "core" ' +2 #"brent"Loading generic puck from tube 1 into Processing Clamp + "processing"%I& +5 "core" &Z\  + "manipulator"&S% +4 "core" %  s w  x + "storage"(T% +3 "core" %   \ + "storage"(V. +2 "core" .( +2 "storage"(W& +3 "core" & @ 1 D\ + "storage"(R& +3 "core" & * = ;\ +2 "manipulator"&P& +3 "core" & y  x + "manipulator"&Z% +3 "core" %  x w  x +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 1 +2 "manipulator"&[(m +158 "core" ( + "manipulator"&]& +3 "core" &q l yz + "storage"(^& +3 "core" & N M -\ +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 1 + 450 counts +2 "manipulator"&U' +98 "core" ' + "storage"(J& +3 "core" & L M \ +2 ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"(`'U +308 "core" ' + "storage"(M- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (X& +3 "core" & * *\ + "manipulator"&b& +3 "core" &q  xz + ."brent"Elbow.seek 1 +2 "manipulator"&c(m +4 "core" ( + "manipulator"&e& +3 "core" &q  yz + "storage"(f& +3 "core" & ' %\ +2 ."brent"Forearm.seek 1 + 300 counts +2 "manipulator"&a'I +39 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&_/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&i& +2 "storage"(j' +7 "core" &q u } 3 yz + "manipulator"&l% +3 "core" % > } M y +2 ."brent"Forearm.seek :retract + "manipulator"&m' +102 "core" ' +2 ."brent"Elbow.seek PC +2 "manipulator"&d( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&Y& +4 "core" &\  l C y + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &o& +3 "core" &\  n  y +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek PC +2 "manipulator"&\\' +100 "core" ' +2 "manipulator"&g& +3 "core" &\  t h x +2 "manipulator"&q% +4 "core" % x  x* + "processing"%r& +3 "core" &Z\  +2 "processing"%t& +4 "core" &Z\  +2 ."brent"PC.seek :closed +2 "processing"%u(U +5 "core" &Z\  +9 &6~\ ,~ +10 &d\ @ +9 &(|\ Q +9 &\\\ P +10 &_\ P +9 &m^\ Q +10 &!/_\ Q +9 &"Y\ P +9 &$[\ P +10 &&vX\ P +9 &(9]\ P +9 &)]\ P +10 &+\\\ P +9 &-W\ P +10 &/B[\ P +9 &1[\ P +9 &2_\ P +10 &4Z\ P +9 &6IZ\ P +9 &8 ]\ P +10 &9Z\ P +9 &;]\ P +10 &=SY\ O +9 &?Y\ P +9 &@Z\ O +10 &B]\ P +9 &DYZ\ P +9 &F\\\ P +10 &GZ\ O +9 &I\\\ P +10 &Kaa\ P +9 &Mu\ R +9 &N\ T +10 &P\ U +9 &RW\ V +9 &T\ V +10 &UqIg\ Y +9 &U5\ / +5 ( + "processing"%t& +4 #"brent"Processing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.51 + .Hand.open +4 "manipulator"&p1 +4 "core" &U\ / +58 1 + "manipulator"&n% +3 "core" %  t 1 y* + ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&x' +87 "core" ' + "processing"%y& +4 "core" &U \ / + #"brent"Imaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&{% +5 "core" %   y +2 "storage"(|% +3 "core" % * *Y\ +2 "storage"(s. +2 "core" .( +2 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 2 +2 "storage"(h( +199 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 (~& +2 "manipulator"&k& +3 "core" & \  E \  +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +3 "core" &\   x +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Elbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&v( + "storage"('U +6 "core" ( + "manipulator"&& +3 "core" &\  j p x + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &\  e o x +2 ."brent"Forearm.seek PC +2 "manipulator"&' +109 "core" ' + ."brent"Hand.close +2 "manipulator"&/ +59 "core" / +2 ."brent"PC.seek :open +2 "processing"%}(p +79 "core" ' + "storage"( - +3 "core" -'U +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"( ' +40 "core" ' +237 ( + "storage"(& +3 "core" & N 2 !\  + "manipulator"&& +3 "core" &\  z z  x + "manipulator"&% +3 "core" %  w  x + ."brent"Forearm.seek :retract +3 "manipulator"&w' +92 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 2 +3 "manipulator"&(h +248 "core" ( + "manipulator"&z& +3 "core" &c y$ + "storage"(& +3 "core" & , -\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 2 + 450 counts +2 "manipulator"&' +120 "core" ' + ."brent"Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(- +2 "core" -' +2 #"brent"WARNING: Short of fully compressing camera seal by 4 counts! +3 .SE.seek -0.33 Pucks below Top Plate +3 "storage"(' +27 "core" ' +2 ."brent"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek :upperLimit +63 "storage"('F +52 "core" ' +2 #"brent"Lights, camera, ACTION! + "storage"(- +4 "core" -'F +2 "storage"(& +3 "core" & \  + "manipulator"&& +3 "core" &d |  x$ +2 ."brent"Elbow.seek 2 + "manipulator"&!(h +5 "core" ( + "manipulator"&"& +4 "core" &d x U x$ + "storage"(& +3 "core" & \  +2 ."brent"Forearm.seek 2 + 450 counts +2 "manipulator"& ' +13 "core" ' +2 ."brent"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek -0.6 Pucks below Top Plate +2 "storage"($' +59 "core" ' +2 "manipulator"&& +3 "core" &d ' y$ +2 "storage"(& +3 "core" & + +\  + ."brent"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek 2 +2 "manipulator"&&' +228 "core" ' 2  y +2 !"brent"o:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error:trajectoryErr: @tagi+: @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni2: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef12.068761904761905S{: @type2F:@destinationi%: mesg"Forearm trajectoryErr at 7:@axisName" Forearm:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"1/home/esp/esp2/utils/misc.rb:105:in `extend'",/home/esp/esp2/lib/msg.rb:68:in `retry'"1/home/esp/esp2/utils/misc.rb:103:in `extend'";/home/esp/esp2/utils/puckmoves.rb:546:in `finishImage'",/home/esp/esp2/lib/msg.rb:68:in `retry'";/home/esp/esp2/utils/puckmoves.rb:544:in `finishImage'"4/home/esp/esp2/utils/shuffle.rb:27:in `shuffle'"!brent:7:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"' +27 "core" ' + ."brent"Elbow.hold +2 "manipulator"&M, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(X- +2 "core" -' +2 ."brent"SE.seek 0.12 Pucks below Top Plate +3 "storage"(b') +29 "core" ' + "manipulator"&e% +3 "core" %/G  y +2 "storage"(f& +4 "core" & \ \  + ."brent"Forearm.force -20 +2 "manipulator"&5 +4 ."brent"Forearm.seek 2 + 319 counts +2 "manipulator"&_'[ +19 "core" ' + "manipulator"&i& +4 "core" &d  y* + "storage"(l& +3 "core" & \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 2 + 450 counts +2 "manipulator"&[' +31 "core" ' +2 ."brent"SE.seek 1.12 Pucks below Top Plate +3 "storage"(U' +43 "core" ' +2 "manipulator"&`& +3 "core" &n r - y) + "manipulator"&a% +4 "core" % n ! x" +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&o( +141 "core" ( + "manipulator"&c& +4 "core" &  y + ."brent"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &g& +3 "core" &  y +2 ."brent"Forearm.seek CC +2 "manipulator"&q'& +102 "core" ' +2 ."brent"Hand.close + "manipulator"&r/ +62 "core" / +2 ."brent"CC.seek :open +2 "collection"'j( +401 "core" ( + "storage"(m& +3 "core" & B C \  + "storage"( & +3 "core" & O M a\  + "manipulator"&p& +3 "core" & s q x + "manipulator"&n% +3 "core" %  o r x +2 ."brent"Forearm.seek :retract +2 "manipulator"&y' +99 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 2 +2 "manipulator"&{(h +158 "core" ( + "manipulator"&|& +3 "core" &k m  yq + "storage"(s& +3 "core" & K E \  + ."brent"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."brent"Forearm.seek 2 +2 "manipulator"&t' +111 "core" ' + ."brent"Elbow.hold +65 "manipulator"&\\, +3 "core" , +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Hand.open +2 "manipulator"&~1 +53 "core" 1 +2 "manipulator"&k% +4 "core" % *I & x + "storage"(& +4 "core" & * *C\  + ."brent"Forearm.force -20 +2 "manipulator"&5 +3 ."brent"Forearm.seek 2 + 314 counts +2 "manipulator"&'V +19 "core" ' + "manipulator"&0& +4 "core" &W y 1 y + "storage"(& +3 "core" & B B ,\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 2 + 450 counts +2 "manipulator"& ' +40 "core" ' + "storage"(d% +5 "core" % e f\ +2 ."downElevator"SE.seek :down +3 "storage"(x' +98 (u% +3 "core" %: K E T\ SU + "manipulator"&% +4 "core" % m  y/ + ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."brent"Forearm.seek :retract +2 "manipulator"&' +105 "core" ' +39 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #"brent"Shuffling two pucks from tube 2 to 3 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +5 "core" &\ + "manipulator"&% +4 "core" % ~ z - x + "storage"(% +4 "core" % f f\ + "storage"(z. +2 "core" .( +2 "storage"(& +3 "core" & f f\  + "storage"(v& +4 "core" & [ f\  + "manipulator"&& +3 "core" &W p  y +2 ."brent"Elbow.seek 2 +2 "manipulator"&(h +40 "core" ( +2 "manipulator"&w& +3 "core" &\ r n xa +2 "storage"(& +4 "core" & f f \ \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 2 + 450 counts +3 "manipulator"&' +100 "core" ' +2 "storage"(& +2 "core" & [ f x\  +2 ."brent"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 ."brent"SE.seek :beamBreak +2 "storage"("'U +312 "core" ' + "storage"(- +3 "core" -'/ + ."brent"SE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & M K P\  + "manipulator"&& +3 "core" &  y` + ."brent"Elbow.seek 2 +2 "manipulator"& (h +29 "core" ( + "manipulator"&& +3 "core" &m i j x + "storage"(& +3 "core" & O [ \  +2 ."brent"Forearm.seek 2 + 300 counts + "manipulator"&'H +45 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&&& +3 "storage"('' +5 "core" &m o x x + "manipulator"& % +4 "core" % j x x x + ."brent"Forearm.seek :retract +2 "manipulator"&*' +98 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&!( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( + "manipulator"&)& +5 "core" & z { x + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &#& +3 "core" & w v x +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek CC +2 "manipulator"&('& +112 "core" ' +2 "manipulator"&-& +3 "core" & } % x +2 "manipulator"&%% +3 "core" %J y +2 "collection"'/& +4 "core" &  +2 "collection"',& +4 "core" & +2 ."brent"CC.seek :closed + "collection"'(W +5 "core" & +8 &-\ $d +9 &wU \ 7 +9 &\ L +10 &`\ \ O +9 &A^\ O +10 &] \ O +9 &a \ O +9 &` \ O +10 & J^\ O +9 &" [\ \ N +9 &#]\ N +10 &%a \ N +9 &'Sa\ \ N +10 &)]\ O +9 &*]\ O +10 &,_ \ O +9 &.[_ \ N +9 &0[\ N +9 &1Z\ N +10 &3X \ N +9 &5c[ \ N +10 &7$Y\ O +9 &8\\ \ N +9 &:W \ O +10 &-Y \ N +9 &?Y\ N +10 &A[\ O +9 &CrZ\ O +10 &E5Z\ \ N +9 &F] \ N +9 &Hi\ P +10 &Jqx \ R +9 &L*\ U +9 &M\ \ W +10 &O\ X +9 &Qc \ Y +10 &S% \ Y +9 &T\ Z +9 &V\ \ H +10 &W. \ #h +9 &WI \ @ +2 ( + "collection"',& +3 #"brent"Collection Clamp onSpring/offSpring for 8/27 samples, on/off torque 1.88 +2 .Hand.open +3 "manipulator"&21 +59 "core" 1 + "manipulator"&.% +3 "core" % J o  x +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&1' +94 "core" ' +2 #"brent"Loading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&$% +3 "core" % %  y!N +2 "storage"(7% +3 "core" % M L k\ + "storage"(+. +2 "core" .( +2 "storage"(:& +3 "core" & K L \  + "storage"(8& +3 "core" & K M \  + "manipulator"&5& +3 "core" & |  x + "manipulator"&?% +3 "core" % % { x!N +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 2 +2 "manipulator"&6(h +147 "core" ( + "manipulator"&H& +4 "core" &n  x + "storage"(9& +5 "core" & N M\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 2 + 450 counts +3 "manipulator"&@' +103 "core" ' + "storage"(L& +3 "core" & K N \  +2 ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"(4'U +310 "core" ' + "storage"(=- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (<& +3 "core" & * *\  + "manipulator"&& +3 "core" &n x m x + ."brent"Elbow.seek 2 +2 "manipulator"&B(h +4 "core" ( + "manipulator"& & +3 "core" &n ! x + "storage"(& +3 "core" & ' \  +2 ."brent"Forearm.seek 2 + 300 counts + "manipulator"&C'H +25 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&\ / +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(Q' +6 "core" &n  y + "manipulator"&I% +4 "core" % M  y- + ."brent"Forearm.seek :retract +2 "manipulator"&S' +96 "core" ' +2 ."brent"Elbow.seek PC +2 "manipulator"&T( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&3& +3 "core" &  x + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &V& +3 "core" & \ x +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek PC +3 "manipulator"&W' +111 "core" ' + "manipulator"&P& +4 "core" & t K y + "manipulator"&Z% +3 "core" % o  y +2 "processing"%K& +3 "core" &\ +2 "processing"%]& +4 "core" &\ + ."brent"PC.seek :closed +2 "processing"%N(U +5 "core" &\ +9 & %\ #a +9 &YT\ 8 +9 &}\ M +10 &^Z\ P +9 & \\\ P +9 &Z\ P +10 & Z\ P +9 &"fZ\ P +10 &$)Y\ P +9 &%[\ P +9 &']\ P +10 &)pY\ O +9 &+1Y\ P +9 &,X\ P +10 &.W\ O +9 &0wY\ P +10 &29U\ P +9 &3Y\ P +9 &5Y\ P +10 &7Z\ P +9 &9A[\ P +9 &;Z\ O +10 &<W\ P +9 &>Z\ P +10 &@HY\ P +9 &B\ Y\ P +9 &CY\ P +10 &EX\ P +9 &GQY\ P +9 &I[\ P +10 &JY\ P +9 &Le\ Q +10 &NM{\ T +9 &P \ V +9 &Q\ V +10 &S\ V +9 &U,wp\ (| +9 &U`\ 7 +9 ( +3 "processing"%]& + "core" &U\ 0 +2 #"brent"Processing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.47 +2 .Hand.open +3 "manipulator"&D1 +54 "core" 1 + "manipulator"&E% +3 "core" %   y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&^' +111 "core" ' + "processing"%J& +4 "core" &U \ 0 + #"brent"Imaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&G% +4 "core" % w . x +2 "storage"(X% +3 "core" % * \ + "storage"(e. +2 "core" .( +2 ."brent"SC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 ."brent"SC.seek 3 +2 "storage"(f( +193 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +4 (i& + "manipulator"&l& +72 "core" & # y +4 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "core" &  & \  +2 ."raiseStack"SE.reconfigure :place +3 ."brent"Elbow.seek PC +4 "storage"(#].K-0-\ b + "manipulator"&`( +4 ."raiseStack"SE.seek :beamBreak +4 "storage"(a'U +3 "core" ( + "manipulator"&O& +4 "core" & i j x + ."brent"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +3 "core" & i p x +2 ."brent"Forearm.seek PC +2 "manipulator"&A' +89 "core" ' + ."brent"Hand.close +2 "manipulator"&>/ +55 "core" / +2 ."brent"PC.seek :open +2 "processing"%_(p +103 "core" ' +2 "storage"(b- +2 "core" -'U +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place + "storage"(c' +40 "core" ' +211 ( + "storage"(g& +3 "core" &~ * + \  + "manipulator"&[& +3 "core" & j i x + "manipulator"&M% +3 "core" % w - y +2 ."brent"Forearm.seek :retract +2 "manipulator"&r' +96 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 3 +2 "manipulator"&Y(u +254 "core" ( + "manipulator"&F& +3 "core" &l  y& + "storage"(m& +3 "core" &~ * *\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 3 + 450 counts +2 "manipulator"& 't +113 "core" ' + ."brent"Hand.open +2 "manipulator"&p1 +56 "core" 1 +2 "storage"(n- +2 "core" -' +2 #"brent"WARNING: Short of fully compressing camera seal by 4 counts! +2 .SE.seek -0.33 Pucks below Top Plate +3 "storage"(|' +28 "core" ' +2 ."brent"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek :upperLimit +2 "storage"(s'F +56 "core" ' +2 #"brent"Lights, camera, ACTION! + "storage"(q- +5 "core" -'F + "storage"(o& +3 "core" &~ -\  + "manipulator"&~& +4 "core" &m  y& + ."brent"Elbow.seek 3 +2 "manipulator"&k(u +5 "core" ( + "manipulator"&& +4 "core" &m y& + "storage"(0& +3 "core" &~ h h\  +2 ."brent"Forearm.seek 3 + 450 counts +2 "manipulator"&'t +4 "core" ' +2 ."brent"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek -0.6 Pucks below Top Plate +2 "storage"(y' +59 "core" ' +2 "manipulator"&d& +3 "core" &m  y& +2 "storage"(u& +3 "core" &~  !\  +2 ."brent"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek 3 +2 "manipulator"&'Ͳ +224 "core" '   y +2 !"brent"o:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error:trajectoryErr: @tagi: @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef12.068761904761905S{: @type2F:@destinationi%: mesg"Forearm trajectoryErr at 5:@axisName" Forearm:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"1/home/esp/esp2/utils/misc.rb:105:in `extend'",/home/esp/esp2/lib/msg.rb:68:in `retry'"1/home/esp/esp2/utils/misc.rb:103:in `extend'";/home/esp/esp2/utils/puckmoves.rb:546:in `finishImage'",/home/esp/esp2/lib/msg.rb:68:in `retry'";/home/esp/esp2/utils/puckmoves.rb:544:in `finishImage'"4/home/esp/esp2/utils/shuffle.rb:27:in `shuffle'"!brent:7:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"- +2 "core" -'9 +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (b& +3 "core" &~ S C v\  + "manipulator"&T& +3 "core" &p m w x + ."brent"Elbow.seek 3 +2 "manipulator"&^(u +4 "core" ( + "manipulator"&N& +3 "core" &p v v x + "storage"(g& +3 "core" &~ Z Y 9\  +2 ."brent"Forearm.seek 3 + 300 counts + "manipulator"&[' +36 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&M/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&a& +2 "storage"(A' +7 "core" &p i i y + "manipulator"&F% +4 "core" % } | x + ."brent"Forearm.seek :retract +2 "manipulator"&m' +107 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&`( +138 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( + "manipulator"&p& +4 "core" & y  7 x + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &n& +3 "core" & ~ < y +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek CC +2 "manipulator"&q'& +95 "core" ' +2 "manipulator"&o& +3 "core" & o  y +2 "manipulator"&~% +4 "core" %!  y + "collection"'r& +4 "core" & \ +2 "collection"'& +4 "core" &\ +2 ."brent"CC.seek :closed + "collection"'0(W +6 "core" & \ +7 &- \ $c +10 &wU\ 7 +9 &~\ L +9 &]\ O +10 &BZ\ O +9 &Y \ N +10 &\\ \ N +9 &[ \ O +9 & J^ \ O +10 &" ^\ \ O +9 &#Z \ O +9 &%]\ \ N +10 &'RX\ O +9 &)\\ \ O +10 &*Z\ \ N +9 &,] \ O +9 &.[\\ \ N +10 &0[ \ O +9 &1Y\ O +9 &3Z \ N +10 &5cZ\ N +9 &7$[\ O +9 &8Z\ N +10 &:Z\ O +9 &-Z\ \ N +9 &?U \ N +9 &AY\ N +10 &CsZ \ N +9 &E5Y \ N +9 &F_ \ N +10 &Hf \ P +9 &Jsw \ Q +10 &L, \ T +9 &M \ W +9 &O \ X +10 &Qf\ X +9 &S&\ Y +9 &T\ Y +10 &V \ F +9 &W1\ !d +10 &WL\ \ @ +2 ( + "collection"'& +3 #"brent"Collection Clamp onSpring/offSpring for 8/27 samples, on/off torque 1.93 +2 .Hand.open +3 "manipulator"&d1 +55 "core" 1 + "manipulator"&u% +3 "core" % ! y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&c' +91 "core" ' +2 #"brent"Loading generic puck from tube 3 into Processing Clamp + "processing"%|& +5 "core" &\ + "manipulator"&Y% +3 "core" %  i m > x + "storage"( % +3 "core" % L L c\ +2 "storage"(s. +2 "core" .( + "storage"(& +3 "core" &~ L J \  + "storage"({& +3 "core" &~ D I \  + "manipulator"&& +3 "core" & z z  x + "manipulator"&% +3 "core" %  w  x +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 3 +2 "manipulator"&(u +149 "core" ( + "manipulator"&v& +6 "core" &p y v ( x + "storage"(U& +3 "core" &~ L L 3\  + ."brent"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 3 + 450 counts +3 "manipulator"&w't +104 "core" ' + "storage"( & +3 "core" &~ I C O\  +2 ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 ."brent"SE.seek :beamBreak +2 "storage"(k'U +301 "core" ' + "storage"(t- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (x& +3 "core" &~ + -\  + "manipulator"&\\& +3 "core" &p y  y + ."brent"Elbow.seek 3 +2 "manipulator"&(u +4 "core" ( + "manipulator"&y& +3 "core" &p  x + "storage"(& +3 "core" &~  ' 2\  +2 ."brent"Forearm.seek 3 + 300 counts + "manipulator"&' +34 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +6 "core" &p k p x + "manipulator"&% +3 "core" %  l q x +2 ."brent"Forearm.seek :retract +2 "manipulator"&' +110 "core" ' +2 ."brent"Elbow.seek PC +2 "manipulator"&( +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( + "manipulator"&z& +4 "core" & u S y + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &&& +3 "core" & | y +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek PC +2 "manipulator"& ' +88 "core" ' +2 "manipulator"&& +3 "core" &  y +2 "manipulator"&)% +3 "core" % { v xC +2 "processing"%& +3 "core" &\ +2 "processing"%"& +4 "core" &\ + ."brent"PC.seek :closed +2 "processing"%(U +6 "core" &\ +7 &\ %\ $c +10 &\\T\ 8 +9 &\ M +9 &c]\ P +10 &&Z\ P +9 &^\ P +10 & ]\ P +9 &"lZ\ P +9 &$/Z\ O +10 &%\\\ O +9 &'^\ P +9 &)u[\ O +10 &+8Y\ O +9 &,]\ O +10 &.\\\ O +9 &0}]\ O +9 &2?\\\ O +10 &4]\ O +9 &5]\ O +9 &7Z\ P +10 &9GZ\ O +9 &; \\\ O +10 &<Y\ O +9 &>X\ O +9 &@NW\ P +10 &BZ\ P +9 &CW\ O +9 &E\\\ O +10 &GW\\\ O +9 &IW\ O +10 &J_\ P +9 &Li\ Q +9 &NU~\ S +10 &P\ U +9 &Q\ U +9 &S\ U +10 &U(pp\ $p +9 &Ua\ 1 +8 ( +3 "processing"%"& + "core" &U\ + +2 #"brent"Processing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.45 +2 .Hand.open +3 "manipulator"&1 +64 "core" 1 + "manipulator"&% +3 "core" % s o xC +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"& ' +106 "core" ' + "processing"%-& +4 "core" &U\ + + #"brent"Imaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&%% +5 "core" % r r * x + "storage"(*% +3 "core" % - *\ +2 "storage"(2. +2 "core" .( +2 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 4 +2 "storage"(.(,I +189 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +4 ($& + "manipulator"&7& +3 "core" &,G  P\  +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +70 "core" & s w x +3 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 ."brent"Elbow.seek PC +4 "storage"(8'U + "manipulator"&,( +5 "core" ( +2 "manipulator"&#& +4 "core" & q r  x + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" & s s \ x +2 ."brent"Forearm.seek PC +2 "manipulator"&' +103 "core" ' + ."brent"Hand.close +2 "manipulator"&// +64 "core" / +2 ."brent"PC.seek :open +2 "processing"%(p +77 "core" ' + "storage"(j- +3 "core" -'U +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(H' +47 "core" ' +204 "Can"{\ ^] +25 "core" ( + "storage"(9& +3 "core" &,@ N 2 2\  + "manipulator"&+& +3 "core" & l i x + "manipulator"&'% +3 "core" %  u % xS +2 ."brent"Forearm.seek :retract +2 "manipulator"&L' +96 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Elbow.seek 4 +2 "manipulator"&5(x +247 "core" ( + "manipulator"&& +3 "core" &o  x"y + "storage"(1& +3 "core" &,@ * , ;\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 4 + 450 counts +2 "manipulator"&='Ϻ +109 "core" ' + ."brent"Hand.open +2 "manipulator"&<1 +56 "core" 1 +2 "storage"(- +2 "core" -' +2 #"brent"WARNING: Short of fully compressing camera seal by 4 counts! +2 .SE.seek -0.33 Pucks below Top Plate +3 "storage"(\ ' +28 "core" ' +2 ."brent"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek :upperLimit +2 "storage"(;'F +54 "core" ' +2 #"brent"Lights, camera, ACTION! + "storage"((- +5 "core" -'F + "storage"(?& +3 "core" &,@  } 5\  + "manipulator"&@& +4 "core" &o  y"y + ."brent"Elbow.seek 4 +2 "manipulator"&4(x +4 "core" ( +2 "manipulator"&C& +3 "core" &o  y"y + "storage"(V& +4 "core" &,@ z z\  +2 ."brent"Forearm.seek 4 + 450 counts + "manipulator"&B'Ϻ +6 "core" ' +2 ."brent"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek -0.6 Pucks below Top Plate +2 "storage"( ' +60 "core" ' +2 "manipulator"&Z& +3 "core" &o } x"y +2 "storage"(& +3 "core" &,@  \  +2 ."brent"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek 4 +2 "manipulator"&Q' +34 "core" ' +2 ."brent"Elbow.hold +2 "manipulator"&S, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 ."brent"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."brent"SE.seek -0.42 Pucks below Top Plate +3 "storage"(I'X +27 "core" ' +2 "manipulator"&3% +4 "core" %  y + "storage"(D& +3 "core" &,@ 6\  +2 ."brent"Forearm.force -20 + "manipulator"&5 +4 ."brent"Forearm.seek 4 + 316 counts +2 "manipulator"&E'4 +23 "core" ' +2 "manipulator"&J& +4 "core" &a w y x$ + "storage"(G& +4 "core" &,@  \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 4 + 450 counts +2 "manipulator"&X'Ϻ +38 "core" ' +2 "storage"(]% +4 "core" %\\  *\ +2 ."downElevator"SE.seek :down +4 "storage"(e' +97 (:% +3 "core" %oJ   E\ TY +2 "manipulator"&l% +3 "core" % 0 y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +3 "manipulator"&i' +104 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (P& +3 "core" &,@ + ,\  + "collection"'O& +3 "core" &WI \ @ + #"brent"Storing generic puck in Collection Clamp to tube 4 +2 "manipulator"&K% +4 "core" % -  y% + "storage"(6% +3 "core" % * +\ +2 "storage"(}. +2 "core" .(,I + "storage"(>& +3 "core" &,@ + +]\  + "storage"(b& +3 "core" &,@ + +U\  + "manipulator"&T& +3 "core" &b l { x# + ."brent"Elbow.seek 4 +2 "manipulator"&N(x +20 "core" ( + "manipulator"&g& +3 "core" & w  xA +2 "storage"(M& +3 "core" &,@ + +[\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek 4 + 450 counts +2 "manipulator"&a'Ϻ +104 "core" ' + "storage"(F& +4 "core" &,@ , - \  + ."brent"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 ."brent"SE.seek :beamBreak +2 "storage"(W'U +294 "core" ' + "storage"(h- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&p& +3 "core" & i k xA + "storage"(n& +3 "core" &,@ ) ' \  + ."brent"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek 4 +2 "manipulator"&R' +30 "core" ' + ."brent"Elbow.hold +2 "manipulator"&[, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(o- +2 "core" -' +2 ."brent"SE.seek 0.1 Pucks below Top Plate +3 "storage"(~' +29 "core" ' + "manipulator"&r% +4 "core" %G  y + "storage"(^& +3 "core" &,@\  \  +2 ."brent"Forearm.force -20 + "manipulator"&5 +4 ."brent"Forearm.seek 4 + 313 counts + "manipulator"&A'1 +25 "core" ' + "manipulator"&m& +4 "core" &Q  y$ + "storage"(!& +3 "core" &,@ ' ,\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 4 + 450 counts +2 "manipulator"&d'Ϻ +35 "core" ' +2 ."brent"SE.seek 1.1 Pucks below Top Plate +3 "storage"(u' +35 "core" ' +2 "manipulator"&|& +3 "core" &R  x$ +2 "manipulator"&Y% +3 "core" %ϲ l p x +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&s( +143 "core" ( +2 "manipulator"&& +3 "core" & x x +2 ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" & z  x +2 ."brent"Forearm.seek CC +2 "manipulator"&'& +112 "core" ' +2 ."brent"Hand.close + "manipulator"&/ +58 "core" / +2 ."brent"CC.seek :open +2 "collection"'( +400 "core" ( + "storage"(v& +3 "core" &,@ X [\  + "storage"(U& +3 "core" &,@ Z X \  + "manipulator"&q& +3 "core" & x y  x + "manipulator"& % +3 "core" % $  y X +61 ."brent"Forearm.seek :retract +2 "manipulator"&`' +106 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Elbow.seek 4 +2 "manipulator"&c(x +151 "core" ( + "manipulator"&t& +3 "core" & t k x +2 "storage"(x& +3 "core" &,@ Y X \  + ."brent"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."brent"Forearm.seek 4 +2 "manipulator"&\\' +108 "core" ' + ."brent"Elbow.hold +2 "manipulator"&y, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Hand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % A " y + "storage"(& +3 "core" &,@  *\  + ."brent"Forearm.force -20 +2 "manipulator"&5 +4 ."brent"Forearm.seek 4 + 303 counts + "manipulator"&'' +19 "core" ' + "manipulator"&& +5 "core" &e t E y + "storage"(w& +3 "core" &,@ C C (\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 4 + 450 counts +4 "manipulator"&k'Ϻ +30 "core" ' +2 "storage"(% +3 "core" % O X M\ +2 ."downElevator"SE.seek :down +3 "storage"(z' +99 (&% +3 "core" %9 Y Y\ RQ + "manipulator"&% +3 "core" %ϻ  y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +61 ' ."downElevator"SE.stop +2 "storage"(5 +4 #"brent"Shuffling two pucks from tube 4 to 5 of [1..7] + #Loading generic puck from tube 4 into Collection Clamp +4 "collection"')& +4 "core" &\ + "manipulator"&% +3 "core" %    x + "storage"(% +3 "core" % [ [ \ + "storage"(. +3 "core" .(,I + "storage"(_& +3 "core" &,@ [ [ \  + "storage"(& +3 "core" &,@ [ Z \  + "manipulator"&& +3 "core" &e w x  y + ."brent"Elbow.seek 4 +2 "manipulator"&-(x +32 "core" ( + "manipulator"&%& +3 "core" &\ }  x_ + "storage"("& +3 "core" &,@ [ Z 7\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 4 + 450 counts +2 "manipulator"&*'Ϻ +93 "core" ' + "storage"(2& +4 "core" &,@ e ^ c\  +2 ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"( 'U +296 "core" ' + "storage"($- +2 "core" -'3 +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (7& +3 "core" &,@ L G N\  + "manipulator"&#& +3 "core" & } n E y_ + ."brent"Elbow.seek 4 +2 "manipulator"&f(x +27 "core" ( + "manipulator"&& +3 "core" &  y + "storage"(/& +3 "core" &,@ [ Y ;\  +2 ."brent"Forearm.seek 4 + 300 counts + "manipulator"&j'$ +35 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(' +7 "core" &  y + "manipulator"&9% +3 "core" %   yB +2 ."brent"Forearm.seek :retract + "manipulator"&+' +115 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&'( +126 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +34 "core" ( + "manipulator"&8& +4 "core" & # y + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" & }  x +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek CC +2 "manipulator"&'& +97 "core" ' +2 "manipulator"&1& +3 "core" & i t x +2 "manipulator"&,% +4 "core" % w o  x ` + "collection"'<& +4 "core" &\ + "collection"'& +5 "core" & +2 ."brent"CC.seek :closed + "collection"'((W +6 "core" & +7 & %\ \ $c +9 &zU\ \ 7 +10 & \ L +9 &]\ \ N +9 &H]\ \ N +10 &\ X \ N +9 &Z\ N +10 &\\\ \ O +9 & OY \ O +9 &"U \ N +10 &#U\ \ N +9 &%Y \ N +9 &'WZ\ \ O +10 &)W\ \ N +9 &*Y\ \ N +10 &,Z \ N +9 &.`Z\ \ N +9 &0"Y\ N +10 &1Y \ N +9 &3X\ \ O +9 &5gX\ O +10 &7*X\ \ N +9 &8T\ \ N +10 &:X\ O +9 &1W\ O +10 &?W \ N +9 &AW\ N +9 &CyS\ \ N +10 &E:W \ N +9 &FY \ O +10 &Hc\ O +9 &Jwv\ \ Q +9 &L0 \ U +10 &M\ \ W +9 &O \ X +9 &Qj\ Y +10 &S+\ Y +9 &T\ Z +10 &V\ G +9 &W- \ #g +9 &W> \ ? +2 ( + "collection"'& +3 #"brent"Collection Clamp onSpring/offSpring for 8/27 samples, on/off torque 1.96 +2 .Hand.open +3 "manipulator"&?1 +53 "core" 1 + "manipulator"&@% +3 "core" %  y q  x ` + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&C' +107 "core" ' +2 #"brent"Loading generic puck from tube 4 into Processing Clamp +2 "processing"%L& +5 "core" &\ + "manipulator"&V% +3 "core" % p  y + "storage"(Z% +3 "core" % L O /\ +2 "storage"(. +2 "core" .(,I +2 "storage"(H& +3 "core" &,@ K K p\  + "storage"(3& +3 "core" &,@ K K \  + "manipulator"&D& +3 "core" & } ] y +2 "manipulator"&\ % +3 "core" % w s ' x + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Elbow.seek 4 +2 "manipulator"&J(x +171 "core" ( + "manipulator"&G& +3 "core" &~ n y$ + "storage"(5& +3 "core" &,@ K L f\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 4 + 450 counts +2 "manipulator"&]'Ϻ +96 "core" ' + "storage"(=& +3 "core" &,@ L N\  +2 ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"(;'U +297 "core" ' + "storage"(:- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (B& +3 "core" &,@  \ \  + "manipulator"&l& +3 "core" &~ m x x$ + ."brent"Elbow.seek 4 +2 "manipulator"&4(x +4 "core" ( + "manipulator"& & +3 "core" &~ | ) x$ + "storage"(Q& +3 "core" &,@ * *\  +2 ."brent"Forearm.seek 4 + 300 counts + "manipulator"&E'$ +25 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&P/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&O& +2 "storage"(K' +6 "core" &~ ~ q x$ +2 "manipulator"&6% +3 "core" % -  x1 +2 ."brent"Forearm.seek :retract +2 "manipulator"&I' +108 "core" ' +2 ."brent"Elbow.seek PC +2 "manipulator"&}( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +113 "core" ( + "manipulator"&>& +4 "core" & | v xa + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &b& +3 "core" & l p xa +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +64 ."brent"Forearm.seek PC +2 "manipulator"&T' +101 "core" ' +2 "manipulator"&g& +3 "core" & {  xa +2 "manipulator"&M% +4 "core" % z x + "processing"%X& +4 "core" &\ +2 "processing"%F& +4 "core" &\ +2 ."brent"PC.seek :closed + "processing"%e(U +5 "core" &\ +7 &\ / +10 &D~\ 1 +9 &)p\ E +10 &j\ P +9 &Z\ O +9 &J_\ P +10 & ^\ O +9 &!Z\ O +9 &#]\ P +10 &%R\\\ P +9 &'Y\ P +11 &(\\\ O +8 &*]\ O +9 &,[Y\ O +10 &.X\ O +10 &/Z\ O +8 &1Z\ P +10 &3b[\ P +9 &5&W\ O +10 &6\\\ O +9 &8[\ O +9 &:kZ\ O +10 &<,Z\ P +9 &=Y\ O +9 &?U\ O +10 &ArW\ P +9 &C4Y\ P +10 &DY\ P +9 &FY\ O +9 &H|V\ O +10 &J<Z\ P +9 &Ke\ P +9 &Ms\ R +10 &Ou\ T +9 &Q4\ U +10 &R\ V +9 &T\ ? +9 &U2\ K +10 &U\ ) +2 ( + "processing"%F& +3 #"brent"Processing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.42 +2 .Hand.open +3 "manipulator"&S1 +65 "core" 1 + "manipulator"&i% +3 "core" % | z x +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&h' +109 "core" ' + "processing"%p& +4 "core" &U\ ) + #"brent"Imaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&n% +5 "core" % w S y + "storage"(o% +4 "core" % !  )\ + "storage"(r. +3 "core" .(,I + ."brent"SC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 ."brent"SC.seek 5 +2 "storage"(^(< +189 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +4 (m& + "manipulator"&!& +5 "core" &<  \  & z w  xa +3 ."brent"Elbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b + "storage"(#].K-0-\ b +3 ."brent"Elbow.seek PC +4 "manipulator"&|( +5 ."raiseStack"SE.seek :beamBreak + "storage"(Y'U +4 "core" ( + "manipulator"&a& +3 "core" & r s % xa + ."brent"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +3 "core" & n q xa +2 ."brent"Forearm.seek PC +2 "manipulator"&W' +87 "core" ' + ."brent"Hand.close +2 "manipulator"&R/ +58 "core" / +2 ."brent"PC.seek :open +2 "processing"%A(p +104 "core" ' + "storage"(- +3 "core" -'U +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(~' +40 "core" ' +210 ( + "storage"({& +3 "core" &< L 1 L\  + "manipulator"&d& +3 "core" & m s xa + "manipulator"&[% +3 "core" % t m y1 +2 ."brent"Forearm.seek :retract +2 "manipulator"&' +115 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Elbow.seek 5 +2 "manipulator"& ( +254 "core" ( + "manipulator"&0& +3 "core" & r  y& + "storage"(v& +3 "core" &< L L \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 5 + 450 counts +2 "manipulator"&U'ϋ +109 "core" ' + ."brent"Hand.open +2 "manipulator"&q1 +53 "core" 1 +2 "storage"( - +3 "core" -' +2 #"brent"WARNING: Short of fully compressing camera seal by 4 counts! + .SE.seek -0.33 Pucks below Top Plate +4 "storage"(t' +27 "core" ' +2 ."brent"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek :upperLimit +2 "storage"(x'F +52 "core" ' +2 #"brent"Lights, camera, ACTION! + "storage"(- +5 "core" -'F + "storage"(s& +3 "core" &< \  + "manipulator"&& +4 "core" & w x  x& + ."brent"Elbow.seek 5 +2 "manipulator"&( +5 "core" ( + "manipulator"&& +4 "core" &  x& + "storage"(& +3 "core" &< G\  +2 ."brent"Forearm.seek 5 + 450 counts +2 "manipulator"&w'ϋ +9 "core" ' +2 ."brent"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek -0.6 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&`& +3 "core" &  y& +2 "storage"(&& +3 "core" &< , , 7\  +2 ."brent"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek 5 +2 "manipulator"&' +37 "core" ' +2 ."brent"Elbow.hold +2 "manipulator"&c, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 ."brent"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."brent"SE.seek -0.42 Pucks below Top Plate +2 "storage"(\\'X +29 "core" ' +2 "manipulator"&% +4 "core" %3  yl + "storage"()& +3 "core" &< \  +2 ."brent"Forearm.force -20 + "manipulator"&5 +4 ."brent"Forearm.seek 5 + 309 counts +2 "manipulator"&' +24 "core" ' +2 "manipulator"&& +4 "core" &m {  y) + "storage"(& +4 "core" &< >\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 5 + 450 counts +2 "manipulator"&_'ϋ +36 "core" ' +2 "storage"(u% +4 "core" %^ * ( 3\ +2 ."downElevator"SE.seek :down +4 "storage"(' +97 (% +3 "core" %6J * )f\ TY +2 "manipulator"&%% +3 "core" %϶  y +2 ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +3 "manipulator"&"' +103 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +4 (k& +2 "core" &< '  \  + "collection"'2& +3 "core" &WB\ \ ? + #"brent"Storing generic puck in Collection Clamp to tube 5 +2 "manipulator"&z% +4 "core" % { ' x + "storage"(y% +3 "core" % ' (\ +2 "storage"(. +2 "core" .(< + "storage"($& +3 "core" &<   \  + "storage"(7& +3 "core" &<   u\  + "manipulator"&#& +3 "core" &r x  x) + ."brent"Elbow.seek 5 +2 "manipulator"&( +17 "core" ( + "manipulator"&/& +3 "core" & j y% +2 "storage"(& +3 "core" &< M L \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek 5 + 450 counts +2 "manipulator"& 'ϋ +100 "core" ' + "storage"(9& +4 "core" &< L 1 >\  + ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +9 ."brent"SE.seek :beamBreak +2 "storage"(-'U +309 "core" ' + "storage"(*- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"& & +3 "core" & q r x% + "storage"(8& +3 "core" &< ( -\  + ."brent"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek 5 +2 "manipulator"&' +32 "core" ' + ."brent"Elbow.hold +2 "manipulator"&j, +64 "core" , +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(1- +2 "core" -' +3 ."brent"SE.seek 0.1 Pucks below Top Plate +2 "storage"(,' +29 "core" ' + "manipulator"&<% +4 "core" %<  yy + "storage"(f& +3 "core" &<\ \  <\  + ."brent"Forearm.force -20 +2 "manipulator"&5 +4 ."brent"Forearm.seek 5 + 317 counts +2 "manipulator"&' +24 "core" ' + "manipulator"&+& +4 "core" &{ y) + "storage"(& +3 "core" &< * * \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 5 + 450 counts +2 "manipulator"&?'ϋ +24 "core" ' +2 ."brent"SE.seek 1.1 Pucks below Top Plate +3 "storage"(@' +35 "core" ' +2 "manipulator"&L& +3 "core" & 4 y) +2 "manipulator"&V% +3 "core" %ϋ # y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&Z' +94 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&( +143 "core" ( +2 "manipulator"&& +3 "core" & t k % x +2 ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &H& +3 "core" & p ~ x +2 ."brent"Forearm.seek CC +2 "manipulator"&3'& +104 "core" ' +2 ."brent"Hand.close + "manipulator"&D/ +54 "core" / +2 ."brent"CC.seek :open +2 "collection"'\ ( +400 "core" ( + "storage"(& +3 "core" &< [ [ .\  + "storage"(G& +3 "core" &< \\ \\ \  + "manipulator"&5& +3 "core" & y 8 x + "manipulator"&=% +3 "core" % 0 { yQ +2 ."brent"Forearm.seek :retract +2 "manipulator"&'' +101 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 5 +3 "manipulator"&C( +156 "core" ( + "manipulator"&:& +3 "core" & s i xt + "storage"(B& +3 "core" &< [ [ *\  + ."brent"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 ."brent"Forearm.seek 5 +2 "manipulator"&l' +107 "core" ' + ."brent"Elbow.hold +2 "manipulator"& , +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Hand.open +2 "manipulator"&Q1 +55 "core" 1 +2 "manipulator"&P% +4 "core" % N  y + "storage"(O& +3 "core" &< + (\  + ."brent"Forearm.force -20 +2 "manipulator"&5 +4 ."brent"Forearm.seek 5 + 314 counts + "manipulator"&6' +37 "core" ' + "manipulator"&J& +4 "core" &{  y + "storage"(]& +3 "core" &< [ [ \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 5 + 450 counts +3 "manipulator"&;'ϋ +31 "core" ' +2 "storage"(E% +2 "core" % Z [ ?\ +2 ."downElevator"SE.seek :down +3 "storage"(>' +99 (b% +3 "core" %6 V N \ SS + "manipulator"&4% +4 "core" %φ y E x + ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +3 "manipulator"&g' +107 "core" ' +36 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #"brent"Shuffling two pucks from tube 5 to 6 of [1..7] + #Loading generic puck from tube 5 into Collection Clamp +4 "collection"'K& +3 "core" & +2 "manipulator"&M% +4 "core" % i q $ x + "storage"(X% +3 "core" % [ f }\ + "storage"(I. +3 "core" .(< +2 "storage"(& +3 "core" &< e [ $\  + "storage"(S& +4 "core" &< [ b K\  + "manipulator"&i& +3 "core" &{ n Q y +2 ."brent"Elbow.seek 5 +2 "manipulator"&p( +37 "core" ( +2 "manipulator"&n& +3 "core" &|   x& +2 "storage"(F& +3 "core" &< W X \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 5 + 450 counts +2 "manipulator"&o'ϋ +113 "core" ' +2 "storage"(r& +3 "core" &< b W [\  +2 ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 ."brent"SE.seek :beamBreak +2 "storage"(T'U +295 "core" ' + "storage"(!- +2 "core" -'7 +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (m& +3 "core" &< J W 8\  + "manipulator"&a& +3 "core" & v s x% + ."brent"Elbow.seek 5 +2 "manipulator"&N( +4 "core" ( + "manipulator"&.& +3 "core" &  x% + "storage"(R& +3 "core" &< [ [ \  +2 ."brent"Forearm.seek 5 + 300 counts + "manipulator"&' +47 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&}/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&h& +2 "storage"(e' +6 "core" & | x% +2 "manipulator"&{% +3 "core" %   y +2 ."brent"Forearm.seek :retract + "manipulator"&d' +92 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&[( +141 "core" ( + "manipulator"&Y& +4 "core" & y  x + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &W& +3 "core" ' + & p x +2 ."downElevator"SE.stop +3 ."brent"Forearm.reconfigure :tight +4 "storage"(5 +2 "manipulator"&#Q@2^d^\ b +5 ."brent"Forearm.seek CC +2 "manipulator"&0'& +107 "core" ' +2 "manipulator"&v& +3 "core" & t s x +2 "manipulator"&|% +4 "core" %N  y + "collection"'q& +3 "core" & +2 "collection"' & +4 "core" & +2 ."brent"CC.seek :closed +2 "collection"'(W +5 "core" &  +9 &1} \ *x +9 &b \ > +10 &\\x\ \ N +9 &Y \ O +9 &Z\ N +10 &Z\ \ N +9 &bZ\ N +10 &%U\ N +9 & Y \ N +9 &"U \ N +10 &$jW\ N +9 &&-X\ \ N +9 &'W\ N +10 &)Z \ N +9 &+rW \ N +10 &-4Y\ \ N +9 &.V \ O +9 &0Y \ N +10 &2zX\ \ N +9 &4<W \ N +9 &5Y\ \ N +10 &7W \ N +9 &9W\ N +10 &;CW \ O +9 &=U\ \ N +9 &>W \ N +10 &@W\ \ N +9 &BLW \ N +9 &DU \ N +10 &EX\ \ N +9 &G] \ O +10 &IOm \ P +9 &K\ \ \ S +9 &L\ \ V +10 &N \ W +9 &P>\ \ Y +9 &R \ X +10 &S \ Y +9 &U \ Z +10 &W'{ \ , +9 &W#\ J +8 ( +3 "collection"' & + "core" &WA \ ? +2 #"brent"Collection Clamp onSpring/offSpring for 8/27 samples, on/off torque 1.89 +2 .Hand.open +3 "manipulator"&s1 +54 "core" 1 + "manipulator"&% +3 "core" % N n y + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&' +108 "core" ' +2 #"brent"Loading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &\ +2 "manipulator"&% +3 "core" % x + "storage"(`% +3 "core" % K L \ + "storage"(&. +2 "core" .(< +2 "storage"(~& +4 "core" &< M U %\  + "storage"(& +3 "core" &< N Q \  + "manipulator"&)& +3 "core" & v s  x + "manipulator"&t% +3 "core" % w ^ x +67 ."brent"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 5 +2 "manipulator"&( +157 "core" ( + "manipulator"&& +3 "core" &z x v  x + "storage"( & +3 "core" &< M L \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 5 + 450 counts +2 "manipulator"&u'ϋ +107 "core" ' + "storage"(U& +3 "core" &< B J /\  +2 ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"(x'U +297 "core" ' + "storage"(- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (w& +3 "core" &< J A \  + "manipulator"&%& +3 "core" &z  y + ."brent"Elbow.seek 5 +2 "manipulator"&( +27 "core" ( + "manipulator"&& +3 "core" &|  yN +2 "storage"(& +3 "core" &< L K \  +2 ."brent"Forearm.seek 5 + 300 counts + "manipulator"&' +40 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&k/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&2& +2 "storage"(z' +7 "core" &|  yN + "manipulator"&y% +3 "core" %   y +2 ."brent"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."brent"Elbow.seek PC +2 "manipulator"&\\( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&$& +3 "core" &  \ y + ."brent"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &7& +3 "core" &   y +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek PC +2 "manipulator"&#' +124 "core" ' + "manipulator"&/& +4 "core" &  z  y + "manipulator"&% +3 "core" % z 7 y +2 "processing"%_& +3 "core" &\ + "processing"%9& +5 "core" &\ + ."brent"PC.seek :closed +2 "processing"%(U +6 "core" &\ +7 & $\ #` +9 &VS\ 8 +10 &|\ L +9 &\\Z\ O +10 &]\ P +9 &\\\ O +9 & Z\ O +10 &"dW\ O +9 &$&Y\ O +9 &%\\\ O +10 &'Z\ P +9 &)kZ\ P +10 &+.Z\ O +9 &,Y\ O +9 &.\\\ O +10 &0sY\ P +9 &25X\ P +9 &3Z\ P +10 &5Z\ P +9 &7{X\ P +10 &9>Y\ O +9 &;U\ O +9 &<Z\ O +10 &>Y\ P +9 &@EX\ P +9 &BY\ P +10 &CW\ P +9 &EX\ P +10 &GOU\ O +9 &IX\ P +9 &J\\\ P +10 &Lf\ Q +9 &NL{\ S +9 &P\ U +10 &Q\ V +9 &S\ V +10 &U$sn\ &w +9 &U]\ - +8 ( +3 "processing"%9& + "core" &U\ ) +2 #"brent"Processing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.46 +2 .Hand.open +3 "manipulator"&c1 +54 "core" 1 + "manipulator"&"% +3 "core" %   y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +2 "manipulator"&*' +92 "core" ' + "processing"% & +4 "core" &U\ ) + #"brent"Imaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&8% +5 "core" % # m  xB + "storage"(1% +3 "core" % - +\ + "storage"(<. +2 "core" .(< +2 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 6 +2 "storage"(f(K +189 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +4 (+& + "manipulator"&& +3 "core" &K  9\  +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +3 "core" &   y +3 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 ."brent"Elbow.seek PC +3 "storage"(L'U + "manipulator"&V( +5 "core" ( +2 "manipulator"& & +3 "core" &  w y x + ."brent"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  q j  x +2 ."brent"Forearm.seek PC +2 "manipulator"&-' +112 "core" ' + ."brent"Hand.close +2 "manipulator"&/ +65 "core" / +2 ."brent"PC.seek :open +2 "processing"%(p +67 "core" ' + "storage"(- +3 "core" -'U +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(,' +40 "core" ' +251 ( + "storage"(H& +3 "core" &K M 1 c\  + "manipulator"&?& +3 "core" &  y + x + "manipulator"&j% +3 "core" %  g " y + ."brent"Forearm.seek :retract +3 "manipulator"&D' +106 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 6 +3 "manipulator"&Z(y +250 "core" ( + "manipulator"&(& +3 "core" & r u  x!r + "storage"(& +3 "core" &K 4 K v\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 6 + 450 counts +2 "manipulator"&G'{ +100 "core" ' + ."brent"Hand.open +2 "manipulator"&51 +59 "core" 1 +2 "storage"(=- +2 "core" -' +2 #"brent"WARNING: Short of fully compressing camera seal by 4 counts! +2 .SE.seek -0.33 Pucks below Top Plate +3 "storage"(:' +28 "core" ' +2 ."brent"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek :upperLimit +2 "storage"(B'F +60 "core" ' +2 #"brent"Lights, camera, ACTION! + "storage"(3- +5 "core" -'F + "storage"(& +3 "core" &K \  + "manipulator"&Q& +4 "core" &  y!r + ."brent"Elbow.seek 6 +2 "manipulator"&P(y +5 "core" ( + "manipulator"&O& +4 "core" &  y!r + "storage"(J& +3 "core" &K %\  +2 ."brent"Forearm.seek 6 + 450 counts +2 "manipulator"&]'{ +22 "core" ' +2 ."brent"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek -0.6 Pucks below Top Plate +2 "storage"(E' +52 "core" ' +2 "manipulator"&'& +3 "core" & l u x!r +2 "storage"(b& +3 "core" &K + *\  +2 ."brent"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek 6 +2 "manipulator"&4'͹ +35 "core" ' +2 ."brent"Elbow.hold +2 "manipulator"&C, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"SE.reconfigure :default +3 "storage"(#QK-0-\ b +3 ."brent"SE.seek -0.42 Pucks below Top Plate +2 "storage"(l'X +26 "core" ' +2 "manipulator"&6% +4 "core" %  yO + "storage"(K& +4 "core" &K \  + ."brent"Forearm.force -20 +2 "manipulator"&5 +4 ."brent"Forearm.seek 6 + 317 counts + "manipulator"&M' +25 "core" ' +2 "manipulator"&X& +4 "core" &k # x$ + "storage"(I& +4 "core" &K \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 6 + 450 counts +2 "manipulator"&'{ +99 "core" ' + "storage"(S% +3 "core" %Z * +C\ +2 ."downElevator"SE.seek :down +4 "storage"(i' +98 (@% +3 "core" %?E * *J\ SX +2 "manipulator"&n% +3 "core" %Y ! x +2 ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +3 "manipulator"&F' +107 "core" ' +49 ' ."downElevator"SE.stop +2 "storage"(5 +4 (;& +2 "core" &K ) \  + "collection"'r& +3 "core" &WC \ ? + #"brent"Storing generic puck in Collection Clamp to tube 6 +2 "manipulator"&>% +4 "core" % x , y +2 "storage"( % +3 "core" % 9\ + "storage"(g. +2 "core" .(K +2 "storage"(!& +3 "core" &K I >\  + "storage"(m& +3 "core" &K " ;\  + "manipulator"&a& +3 "core" &l ~  x# + ."brent"Elbow.seek 6 +2 "manipulator"&.(y +21 "core" ( + "manipulator"&R& +3 "core" &\ y w xb +2 "storage"(}& +3 "core" &K N L \  + ."brent"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek 6 + 450 counts +2 "manipulator"&h'{ +108 "core" ' + "storage"({& +4 "core" &K M M \  + ."brent"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 ."brent"SE.seek :beamBreak +2 "storage"(p'U +307 "core" ' + "storage"(o- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&Y& +3 "core" &\ s u xb + "storage"(W& +3 "core" &K < H\  + ."brent"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek 6 +2 "manipulator"&T'͹ +36 "core" ' + ."brent"Elbow.hold +2 "manipulator"&, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(v- +2 "core" -' +2 ."brent"SE.seek 0.11 Pucks below Top Plate +3 "storage"(|'! +28 "core" ' + "manipulator"&q% +4 "core" %,  yg + "storage"(N& +3 "core" &K \  p\  + ."brent"Forearm.force -20 +2 "manipulator"&5 +4 ."brent"Forearm.seek 6 + 313 counts + "manipulator"&e' +25 "core" ' + "manipulator"&d& +4 "core" &n ; x% + "storage"(\ & +3 "core" &K * *\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 6 + 450 counts +2 "manipulator"&s'{ +39 "core" ' +2 ."brent"SE.seek 1.11 Pucks below Top Plate +3 "storage"(' +35 "core" ' +2 "manipulator"&& +3 "core" &o  y% +2 "manipulator"&% +4 "core" %χ  y + ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +2 "manipulator"&`' +93 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&&( +155 "core" ( + "manipulator"& & +3 "core" & u j / x + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &~& +3 "core" & t w x + ."brent"Forearm.seek CC +3 "manipulator"&'& +93 "core" ' + ."brent"Hand.close +2 "manipulator"&)/ +55 "core" / +2 ."brent"CC.seek :open +2 "collection"'t( +403 "core" ( +2 "storage"(0& +3 "core" &K Z E \  + "storage"(& +3 "core" &K > 8\  + "manipulator"& & +3 "core" & { x + "manipulator"&U% +3 "core" %  x  x + ."brent"Forearm.seek :retract +3 "manipulator"&[' +92 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 6 +3 "manipulator"&(y +150 "core" ( + "manipulator"&& +3 "core" & { r x + "storage"(w& +3 "core" &K U D &\  + ."brent"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."brent"Forearm.seek 6 +2 "manipulator"&%'͹ +111 "core" ' + ."brent"Elbow.hold +2 "manipulator"&, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&k% +4 "core" % A  y + "storage"(2& +3 "core" &K \ \  + ."brent"Forearm.force -20 +2 "manipulator"&5 +3 ."brent"Forearm.seek 6 + 318 counts +2 "manipulator"&y' +24 "core" ' + "manipulator"&& +4 "core" &~  y + "storage"(u& +3 "core" &K K T `\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 6 + 450 counts +2 "manipulator"&x'{ +21 "core" ' +2 "storage"(% +4 "core" % X [ \ \ +2 ."downElevator"SE.seek :down +3 "storage"($' +98 (7% +3 "core" %8 T H r\ SS + "manipulator"&% +3 "core" %t  y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&/' +92 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #"brent"Shuffling two pucks from tube 6 to 7 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp +3 "collection"'& +5 "core" &\ + "manipulator"&_% +4 "core" %  l y % x + "storage"(z% +3 "core" % [ [ '\ + "storage"(. +2 "core" .(K +2 "storage"(A& +3 "core" &K Y Y \  + "storage"(c& +4 "core" &K X Y 4\  + "manipulator"&"& +3 "core" &~ y ? x +2 ."brent"Elbow.seek 6 +2 "manipulator"& (y +5 "core" ( + "manipulator"&8& +4 "core" &~ | A x + "storage"(1& +4 "core" &K [ X\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 6 + 450 counts +2 "manipulator"&<'{ +92 "core" ' +2 "storage"(9& +4 "core" &K X Z '\  + ."brent"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."brent"SE.seek :beamBreak +2 "storage"(#'U +296 "core" ' + "storage"(+- +2 "core" -'5 +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" &K C :\  + "manipulator"& & +3 "core" &~ x ; x + ."brent"Elbow.seek 6 +2 "manipulator"&(y +4 "core" ( + "manipulator"&^& +3 "core" &~ g # y + "storage"(& +3 "core" &K ? 7\  +2 ."brent"Forearm.seek 6 + 300 counts + "manipulator"&' +27 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&\\/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&*& +2 "storage"(' +7 "core" &~ j  y + "manipulator"&H% +3 "core" %  { 0 y! +2 ."brent"Forearm.seek :retract + "manipulator"&?' +89 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&j( +151 "core" ( + "manipulator"&L& +3 "core" & w A x + ' + ."downElevator"SE.stop +3 ."brent"Elbow.reconfigure :loose +4 "storage"(5 +63 "manipulator"&$ &.,(#b +5 &-& +3 "core" & u y x +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek CC +3 "manipulator"&('& +102 "core" ' + "manipulator"&& +4 "core" & x * y + "manipulator"&V% +3 "core" %, y / x +2 "collection"'5& +3 "core" &\ +2 "collection"'=& +4 "core" &\ +2 ."brent"CC.seek :closed +2 "collection"'3(W +5 "core" & \ +7 & %\ $c +10 &zU\ 7 +9 &\ L +9 &Y \ N +10 &HX\ \ N +9 &\ \\ \ N +10 &Z \ N +9 &V\ N +9 & O[ \ O +10 &"Y \ N +9 &#Y\ N +9 &%Y \ N +10 &'YX \ N +9 &)Y\ N +10 &*W\ N +9 &,Y\ N +9 &.`X\ N +10 &0#U\ N +9 &1X \ N +9 &3W \ N +10 &5iX \ N +9 &7+Y\ N +10 &8W\ N +9 &:W\ N +9 &3T\ \ N +9 &?U \ N +9 &AR \ N +10 &CxV\ N +9 &E:W\ N +10 &FY\ O +9 &Hc \ P +9 &Jus\ R +10 &L/\ U +9 &M \ X +9 &O\ X +10 &Qh\ Y +9 &S+ \ Y +10 &T\ Z +9 &V\ \ G +9 &W3 \ _ +10 &W? \ > +2 ( + "collection"'=& +3 #"brent"Collection Clamp onSpring/offSpring for 8/27 samples, on/off torque 1.94 +2 .Hand.open +3 "manipulator"&1 +56 "core" 1 + "manipulator"&Q% +3 "core" % , y . x +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&O' +95 "core" ' + #"brent"Loading generic puck from tube 6 into Processing Clamp +2 "processing"%D& +5 "core" &\ + "manipulator"&J% +3 "core" %   y + "storage"('% +3 "core" % L N \ + "storage"(b. +2 "core" .(K +2 "storage"(,& +3 "core" &K K K \  + "storage"(6& +3 "core" &K K L \  + "manipulator"&K& +3 "core" & < y + "manipulator"&:% +4 "core" %  z u  x + ."brent"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 6 +2 "manipulator"&X(y +159 "core" ( + "manipulator"&I& +3 "core" &  xV + "storage"(Z& +3 "core" &K M L \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 6 + 450 counts +2 "manipulator"&G'{ +104 "core" ' + "storage"(B& +3 "core" &K I A )\  +2 ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 ."brent"SE.seek :beamBreak + "storage"(S'U +305 "core" ' + "storage"(]- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (P& +3 "core" &K N J \  + "manipulator"&@& +3 "core" & s xV + ."brent"Elbow.seek 6 +2 "manipulator"&E(y +4 "core" ( + "manipulator"&n& +3 "core" &  yV +2 "storage"(4& +3 "core" &K L K \  + ."brent"Forearm.seek 6 + 300 counts +2 "manipulator"&M' +27 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&;/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&r& +3 "storage"(>' +6 "core" &  yV + "manipulator"& % +4 "core" %  : y + ."brent"Forearm.seek :retract +2 "manipulator"&g' +103 "core" ' +2 ."brent"Elbow.seek PC +2 "manipulator"&l( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( + "manipulator"&!& +4 "core" &  C y + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &m& +3 "core" &  x +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek PC +2 "manipulator"&a' +105 "core" ' +2 "manipulator"&R& +3 "core" & s & y +2 "manipulator"&}% +4 "core" %  y + "processing"%& +3 "core" &\ +2 "processing"%{& +4 "core" &\ +2 ."brent"PC.seek :closed +2 "processing"%i(U +5 "core" &\ +8 & %\ #` +9 &WT\ 8 +9 &}\ L +10 &][\ O +9 &Z\ P +10 &\\\ O +9 & \\\ O +9 &"eW\ O +10 &$'W\ O +9 &%W\ O +9 &'W\ O +10 &)lZ\ P +9 &+/Y\ O +10 &,[\ O +9 &.Y\ O +9 &0uV\ O +10 &27X\ O +9 &3X\ O +9 &5\\\ O +10 &7}Z\ O +9 &9@W\ O +10 &;Y\ O +9 &<Y\ O +9 &>Z\ O +10 &@GZ\ O +9 &BZ\ P +9 &CY\ O +10 &EY\ O +9 &GPZ\ O +10 &IY\ O +9 &J\\\ O +9 &Lf\ Q +10 &NM~\ S +9 &P \ U +9 &Q\ U +10 &S\ U +9 &U*uq\ &x +9 &Ub\ 4 +9 ( +3 "processing"%{& + "core" &U\ - +2 #"brent"Processing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.47 +2 .Hand.open +3 "manipulator"&C1 +57 "core" 1 + "manipulator"&F% +3 "core" % v  y + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&o' +104 "core" ' + "processing"%Y& +4 "core" &U\ - + #"brent"Imaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&W% +5 "core" % &  y"[ + "storage"(v% +3 "core" % + *\ + "storage"(q. +3 "core" .(K +2 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 ."brent"SC.seek 7 +2 "storage"(N([o +193 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +4 (d& + "manipulator"&\ & +3 "core" &[n C\  8\  +3 ."raiseStack"SE.reconfigure :place +2 "storage"(#].K-0-\ b +4 "core" &  x + ."brent"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 ."brent"Elbow.seek PC +4 "storage"('U + "manipulator"&( +6 "core" ( + "manipulator"&h& +4 "core" & h d x + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &.& +3 "core" & o s x +2 ."brent"Forearm.seek PC +2 "manipulator"&p' +94 "core" ' + ."brent"Hand.close +2 "manipulator"&T/ +53 "core" / +2 ."brent"PC.seek :open +2 "processing"%e(p +97 "core" ' + "storage"(|- +3 "core" -'U +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"( ' +40 "core" ' +218 ( + "storage"(~& +3 "core" &[m ' , g\  + "manipulator"&s& +3 "core" &   y + "manipulator"&% +3 "core" %  z n y +2 ."brent"Forearm.seek :retract +2 "manipulator"&)' +92 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 7 +3 "manipulator"&`(E +252 "core" ( + "manipulator"&& +3 "core" &S z  y[ + "storage"(0& +3 "core" &[m ' + 9\  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 7 + 450 counts +2 "manipulator"&' +115 "core" ' + ."brent"Hand.open +2 "manipulator"& 1 +59 "core" 1 +2 "storage"(U- +2 "core" -' +2 #"brent"WARNING: Short of fully compressing camera seal by 4 counts! +2 .SE.seek -0.33 Pucks below Top Plate +3 "storage"(' +27 "core" ' +2 ."brent"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek :upperLimit +2 "storage"(w'F +52 "core" ' +61 #"brent"Lights, camera, ACTION! + "storage"(- +5 "core" -'F + "storage"(&& +3 "core" &[m Q\  + "manipulator"&& +3 "core" &S & y[ +2 ."brent"Elbow.seek 7 +2 "manipulator"&k(E +24 "core" ( + "manipulator"&2& +4 "core" &O  y + "storage"(& +3 "core" &[m \  +2 ."brent"Forearm.seek 7 + 450 counts +2 "manipulator"&u' +37 "core" ' +2 ."brent"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek -0.6 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&[& +3 "core" &O k l x +2 "storage"(7& +3 "core" &[m ) ,\  + ."brent"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek 7 +2 "manipulator"&' +30 "core" ' +2 ."brent"Elbow.hold +2 "manipulator"&, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"SE.reconfigure :default +3 "storage"(#QK-0-\ b +3 ."brent"SE.seek -0.42 Pucks below Top Plate +2 "storage"(%'X +26 "core" ' +2 "manipulator"&% +4 "core" %/@  y + "storage"(y& +3 "core" &[m\ \ \  +2 ."brent"Forearm.force -20 + "manipulator"&5 +4 ."brent"Forearm.seek 7 + 316 counts +2 "manipulator"&_'[ +23 "core" ' +2 "manipulator"&z& +4 "core" &E _  y + "storage"(& +4 "core" &[m \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 7 + 450 counts +2 "manipulator"&A' +20 "core" ' +2 "storage"(c% +4 "core" %\\ * *\ +2 ."downElevator"SE.seek :down +4 "storage"("' +97 (% +3 "core" %pN * (\ U\\ +2 "manipulator"&8% +3 "core" % m = y +2 ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +2 "manipulator"&1' +118 "core" ' +37 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (x& +3 "core" &[m N N\  + "collection"'9& +3 "core" &W>\ > + #"brent"Storing generic puck in Collection Clamp to tube 7 +2 "manipulator"&$% +5 "core" % v 6 y + "storage"(% +3 "core" % M L \ + "storage"(/. +2 "core" .([o +2 "storage"(+& +4 "core" &[m N O :\  + "storage"(& +4 "core" &[m K K \  + "manipulator"& & +3 "core" &E u  y +2 ."brent"Elbow.seek 7 + "manipulator"&^(E +5 "core" ( + "manipulator"&& +3 "core" &E o w y + "storage"(\\& +4 "core" &[m N K \  + ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 7 + 450 counts +2 "manipulator"&*' +101 "core" ' + "storage"(H& +4 "core" &[m 0 . \  + ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 ."brent"SE.seek :beamBreak +2 "storage"( 'U +311 "core" ' + "storage"(<- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&L& +3 "core" &E y + "storage"(#& +3 "core" &[m , )\  + ."brent"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek 7 +2 "manipulator"&' +30 "core" ' + ."brent"Elbow.hold +2 "manipulator"&-, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(- +2 "core" -' +2 ."brent"SE.seek 0.11 Pucks below Top Plate +3 "storage"('& +29 "core" ' + "manipulator"&V% +3 "core" %&@  y + "storage"(5& +3 "core" &[m \ \ :\  + ."brent"Forearm.force -20 +2 "manipulator"&5 +4 ."brent"Forearm.seek 7 + 307 counts + "manipulator"&'R +25 "core" ' + "manipulator"&?& +4 "core" &D v w x + "storage"(t& +3 "core" &[m * + \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 7 + 450 counts +2 "manipulator"&' +34 "core" ' +2 ."brent"SE.seek 1.11 Pucks below Top Plate +3 "storage"(Q' +34 "core" ' +2 "manipulator"&D& +3 "core" &D  y +2 "manipulator"&J% +4 "core" % p k A x + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&'' +110 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&b( +164 "core" ( + "manipulator"&,& +3 "core" & x x( + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &6& +3 "core" & t v  x' + ."brent"Forearm.seek CC +3 "manipulator"&K'& +87 "core" ' + ."brent"Hand.close +2 "manipulator"&=/ +61 "core" / +2 ."brent"CC.seek :open +2 "collection"':( +403 "core" ( + "storage"((& +3 "core" &[m W D p\  + "storage"(I& +3 "core" &[m 8 > 7\  + "manipulator"&Z& +3 "core" & v C x' + "manipulator"&B% +3 "core" % (  y' + ."brent"Forearm.seek :retract +2 "manipulator"&j' +98 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 7 +3 "manipulator"&O(E +163 "core" ( + "manipulator"&]& +3 "core" &K  yj + "storage"(P& +3 "core" &[m D C\  + ."brent"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."brent"Forearm.seek 7 +2 "manipulator"&@' +110 "core" ' + ."brent"Elbow.hold +2 "manipulator"&n, +5 "core" , + ."brent"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."brent"Hand.open +2 "manipulator"&41 +59 "core" 1 +2 "manipulator"&;% +4 "core" % (Z  y + "storage"(r& +3 "core" &[m ) . \  + ."brent"Forearm.force -20 +2 "manipulator"&5 +4 ."brent"Forearm.seek 7 + 309 counts +2 "manipulator"& 'T +19 "core" ' + "manipulator"&X& +4 "core" &J  yk + "storage"(G& +3 "core" &[m X Y \  +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 7 + 450 counts +2 "manipulator"&S' +42 "core" ' +2 "storage"(M% +2 "core" % [ Z $\ +2 ."downElevator"SE.seek :down +3 "storage"(!' +99 (m% +3 "core" %5 Z Y \ RR + "manipulator"&E% +4 "core" %  y + ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +2 "manipulator"&R' +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +5 #"brent"Shuffling two pucks from tube 7 to 1 of [1..7] + #Loading generic puck from tube 7 into Collection Clamp +4 "collection"'}& +5 "core" &\ + "manipulator"&% +3 "core" %  n  y +2 "storage"(>% +3 "core" % [ Z \ + "storage"(g. +3 "core" .([o +2 "storage"(& +3 "core" &[m Z [ \  + "storage"(C& +68 "core" &[m Z [ 9\  +2 "manipulator"&F& +3 "core" &J  yk +2 ."brent"Elbow.seek 7 +2 "manipulator"&Y(E +5 "core" ( +2 "manipulator"&W& +3 "core" &J l u yk +2 "storage"(v& +3 "core" &[m [ [ 0\  +2 ."brent"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek 7 + 450 counts +3 "manipulator"&q' +107 "core" ' +2 "storage"({& +3 "core" &[m Y ` &\  +2 ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 ."brent"SE.seek :beamBreak +2 "storage"(a'U +293 "core" ' + "storage"(d- +2 "core" -'2 +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (\ & +3 "core" &[m Z [ \  + "manipulator"&h& +3 "core" &J x  yk + ."brent"Elbow.seek 7 +2 "manipulator"&.(E +3 "core" ( +2 "manipulator"&f& +3 "core" &J w  xk + "storage"(T& +3 "core" &[m Y [ 6\  +2 ."brent"Forearm.seek 7 + 300 counts +2 "manipulator"&|'K +25 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&l/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&o& +3 "storage"(i' +7 "core" &J  yk + "manipulator"&~% +3 "core" % F = y +2 ."brent"Forearm.seek :retract +2 "manipulator"&s' +93 "core" ' +2 ."brent"Elbow.seek CC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"&& +3 "core" & {  y| + ."brent"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +3 "core" & y  y| +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek CC +2 "manipulator"&'& +102 "core" ' + "manipulator"&0& +4 "core" & y R y| + "manipulator"&% +3 "core" %)  I x +2 "collection"' & +3 "core" & \ +2 "collection"'U& +4 "core" &\ + ."brent"CC.seek :closed +2 "collection"'(W +5 "core" &\ \ +7 & %\ \ #b +10 &sV\ 8 +9 &} \ L +10 &Y\ N +9 &DZ\ O +9 &Z\ N +10 &Y \ O +9 &Y \ N +9 & MT\ N +10 &"S\ N +9 &#R \ N +10 &%Y \ N +9 &'UU\ \ N +9 &)T \ N +10 &*U\ O +9 &,V\ N +9 &.]W\ N +10 &0X \ N +9 &1U \ N +10 &3V\ N +9 &5eU \ N +9 &7'W\ \ N +10 &8T\ \ N +9 &:V \ N +9 &1V\ \ N +9 &?U\ \ N +10 &AT\ \ N +9 &CvU \ N +9 &E8V \ N +10 &FX\ N +9 &H`\ O +9 &Jur\ Q +10 &L.\ T +9 &M\ W +10 &O\ W +9 &Qc\ Z +9 &S(\ Y +10 &T\ Z +9 &V\ F +9 &W.\ "f +10 &WN \ @ +2 ( + "collection"'U& +3 #"brent"Collection Clamp onSpring/offSpring for 8/27 samples, on/off torque 1.98 +2 .Hand.open +3 "manipulator"&)1 +53 "core" 1 + "manipulator"&&% +3 "core" % (  y + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #"brent"Loading generic puck from tube 7 into Processing Clamp + "processing"%2& +5 "core" &\ + "manipulator"&% +3 "core" %   y + "storage"( % +3 "core" % K L \ +2 "storage"([. +2 "core" .([o + "storage"(7& +4 "core" &[m L L \  + "storage"(& +3 "core" &[m I D \  +2 "manipulator"&& +3 "core" & ~ ) y| + "manipulator"&y% +3 "core" %  z }  x +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 7 +2 "manipulator"&z(E +158 "core" ( + "manipulator"&& +3 "core" &I o  y] +2 "storage"(`& +3 "core" &[m K L \  + ."brent"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 7 + 450 counts +2 "manipulator"&c' +92 "core" ' +2 "storage"(& +3 "core" &[m L M \  + ."brent"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 ."brent"SE.seek :beamBreak +2 "storage"(w'U +308 "core" ' + "storage"(- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 (8& +3 "core" &[m + * ,\  + "manipulator"&u& +3 "core" &I t r x] +2 ."brent"Elbow.seek 7 +2 "manipulator"&k(E +4 "core" ( + "manipulator"&& +3 "core" &I w { \ x] + "storage"(& +3 "core" &[m L K \  +2 ."brent"Forearm.seek 7 + 300 counts + "manipulator"&_'K +26 "core" ' + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Hand.close +2 "manipulator"&x/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&9& +2 "storage"($' +7 "core" &I  y] + "manipulator"&% +3 "core" % K z y +2 ."brent"Forearm.seek :retract + "manipulator"&/' +94 "core" ' +2 ."brent"Elbow.seek PC +2 "manipulator"&%( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&+& +3 "core" &  z { x + ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &  {  ; x +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek PC +3 "manipulator"& ' +103 "core" ' + "manipulator"&& +4 "core" &  m  x + "manipulator"&\\% +3 "core" % x  x +2 "processing"%A& +3 "core" &\ +2 "processing"%H& +4 "core" &\ +2 ."brent"PC.seek :closed + "processing"%"(U +6 "core" &\ +9 & %\ #b +9 &ZT\ 8 +9 &\ M +9 &c\\\ P +10 &&Z\ O +9 &\\\ O +10 & \\\ O +9 &"kZ\ P +10 &$.Y\ O +9 &%W\ O +9 &'Y\ P +10 &)uX\ O +9 &+6Y\ O +9 &,Z\ O +10 &.Y\ O +9 &0|Y\ O +10 &2?Y\ O +9 &4Z\ O +9 &5Z\ O +10 &7W\ O +9 &9GW\ O +9 &;Z\ O +10 &<X\ O +9 &>Y\ P +10 &@OY\ O +9 &BZ\ O +9 &CU\ O +10 &EY\ O +9 &GWY\ O +9 &IX\ O +10 &J\\\ O +9 &Lg\ P +10 &NT{\ S +9 &P\ T +9 &Q\ U +10 &S\ U +9 &U(pn\ #o +9 &U!h\ 4 +9 ( +3 "processing"%H& + "core" &U\ * +2 #"brent"Processing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.46 +2 .Hand.open +3 "manipulator"&1 +63 "core" 1 + "manipulator"&1% +3 "core" %  s i x + ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"&<' +112 "core" ' + "processing"%L& +4 "core" &U\ * + #"brent"Imaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&#% +5 "core" % v l x x +2 "storage"(% +3 "core" % ) \ + "storage"(V. +2 "core" .([o +2 ."brent"SC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 ."brent"SC.seek 1 +2 "storage"(5( +985 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 (?& +2 "manipulator"&t& +3 "core" & \  \ +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +3 "core" &  q + y +2 ."brent"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek PC +2 "manipulator"&D( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(J'U +4 "core" ( + "manipulator"&*& +4 "core" &  k 6 x +60 ."brent"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &^& +3 "core" &  r s  x +2 ."brent"Forearm.seek PC +2 "manipulator"& ' +93 "core" ' + ."brent"Hand.close +2 "manipulator"&/ +57 "core" / +2 ."brent"PC.seek :open +2 "processing"%(p +37 "core" ' + "storage"(- +3 "core" -'U +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(,' +39 "core" ' +276 ( + "storage"(6& +3 "core" & , +\ + "manipulator"&& +3 "core" &  v  y + "manipulator"&-% +3 "core" %  y + ."brent"Forearm.seek :retract +3 "manipulator"&=' +107 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."brent"Elbow.seek 1 +3 "manipulator"&'(m +268 "core" ( + "manipulator"&3& +3 "core" &u } 3 x + "storage"((& +3 "core" &  , \ +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 1 + 450 counts +2 "manipulator"&I' +110 "core" ' + ."brent"Hand.open +2 "manipulator"&Z1 +61 "core" 1 +2 "storage"(B- +2 "core" -' +2 #"brent"WARNING: Short of fully compressing camera seal by 4 counts! +2 .SE.seek -0.33 Pucks below Top Plate +3 "storage"(]' +26 "core" ' +2 ."brent"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek :upperLimit +2 "storage"(P'F +54 "core" ' +2 #"brent"Lights, camera, ACTION! + "storage"(K- +5 "core" -'F + "storage"(b& +3 "core" & #\ + "manipulator"&4& +4 "core" &u h p x + ."brent"Elbow.seek 1 +2 "manipulator"&;(m +5 "core" ( + "manipulator"&r& +4 "core" &u m t x + "storage"(X& +3 "core" & 1\ +2 ."brent"Forearm.seek 1 + 450 counts +2 "manipulator"&G' +4 "core" ' +2 ."brent"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 ."brent"SE.seek -0.6 Pucks below Top Plate +2 "storage"(M' +59 "core" ' +2 "manipulator"&j& +3 "core" &u  y +2 "storage"(m& +4 "core" & * )\ +2 ."brent"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."brent"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek 1 +2 "manipulator"&E' +34 "core" ' +2 ."brent"Elbow.hold +2 "manipulator"&O, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 ."brent"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."brent"SE.seek -0.42 Pucks below Top Plate +3 "storage"(@'X +27 "core" ' +2 "manipulator"& % +4 "core" %.,  yb + "storage"(}& +3 "core" & \ +2 ."brent"Forearm.force -20 + "manipulator"&5 +5 ."brent"Forearm.seek 1 + 317 counts +2 "manipulator"&'Z +19 "core" ' +2 "manipulator"&>& +4 "core" &u  y + "storage"(g& +4 "core" & \ +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 1 + 450 counts +3 "manipulator"&' +39 "core" ' +2 "storage"(C% +4 "core" %b '\ +2 ."downElevator"SE.seek :down +4 "storage"(Q' +97 (F% +3 "core" %vI \  \ UZ +2 "manipulator"&W% +3 "core" %ϰ  x! +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +3 "manipulator"&v' +102 "core" ' +54 ' ."downElevator"SE.stop +2 "storage"(5 +4 (S& +2 "core" & * (\ + "collection"'{& +3 "core" &WI\ @ +2 #"brent"Storing generic puck in Collection Clamp to tube 1 + "manipulator"&!% +4 "core" % & p g x"Y +2 "storage"(n% +3 "core" % ) (\ + "storage"(R. +3 "core" .( + "storage"(d& +4 "core" & % \ + "storage"(\ & +3 "core" &   `\ + "manipulator"&h& +3 "core" &u r r  x + ."brent"Elbow.seek 1 +2 "manipulator"&f(m +5 "core" ( + "manipulator"&T& +3 "core" &u }  x +2 "storage"(l& +3 "core" & * *u\ +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."brent"Forearm.seek 1 + 450 counts +2 "manipulator"&o' +113 "core" ' + "storage"(~& +4 "core" & L L \ + ."brent"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 ."brent"SE.seek :beamBreak +2 "storage"(Y'U +297 "core" ' + "storage"(q- +2 "core" -' +2 ."brent"SE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" &u y w + x + "storage"(p& +3 "core" & * *e\ + ."brent"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek 1 +2 "manipulator"&a' +33 "core" ' + ."brent"Elbow.hold +2 "manipulator"&|, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(0- +2 "core" -' +2 ."brent"SE.seek 0.11 Pucks below Top Plate +3 "storage"(.'$ +33 "core" ' + "manipulator"&% +3 "core" %09  y + "storage"( & +4 "core" &\ \  >\ + ."brent"Forearm.force -20 + "manipulator"&5 +4 ."brent"Forearm.seek 1 + 319 counts +2 "manipulator"&i'\\ +23 "core" ' + "manipulator"&s& +4 "core" &t  y + "storage"(:& +3 "core" & ' * \ +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 1 + 450 counts +2 "manipulator"&)' +22 "core" ' +2 ."brent"SE.seek 1.11 Pucks below Top Plate +3 "storage"(&' +35 "core" ' +2 "manipulator"&2& +3 "core" &t n w x +2 "manipulator"&% +3 "core" % j p x +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."brent"Forearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 ."brent"Elbow.seek CC +3 "manipulator"&[( +162 "core" ( +2 "manipulator"&7& +3 "core" & { s x + ."brent"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  x + ."brent"Forearm.seek CC +3 "manipulator"&'& +92 "core" ' + ."brent"Hand.close +2 "manipulator"&y/ +64 "core" / +2 ."brent"CC.seek :open +2 "collection"'U( +405 "core" ( + "storage"(& +3 "core" & [ [ @\ + "storage"(& +3 "core" & 8 5\ + "manipulator"&`& +3 "core" & p . y + "manipulator"&% +3 "core" % / u t D x + ."brent"Forearm.seek :retract +3 "manipulator"&' +93 "core" ' +2 ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Elbow.seek 1 +2 "manipulator"&(m +154 "core" ( + "manipulator"&& +3 "core" &i | R xt + "storage"(8& +3 "core" & [ [ \ +65 ."brent"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."brent"Forearm.seek 1 +2 "manipulator"&u' +108 "core" ' + ."brent"Elbow.hold +2 "manipulator"&, +5 "core" , + ."brent"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."brent"Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&x% +4 "core" % !\\  x + "storage"(9& +3 "core" & + ,\ + ."brent"Forearm.force -20 +2 "manipulator"&5 +4 ."brent"Forearm.seek 1 + 304 counts + "manipulator"&'M +26 "core" ' + "manipulator"&z& +4 "core" &i = yt + "storage"(c& +3 "core" & D G /\ +2 ."brent"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."brent"Forearm.seek 1 + 450 counts +2 "manipulator"&w' +38 "core" ' +2 "storage"(_% +4 "core" % Y [ \ +2 ."downElevator"SE.seek :down +3 "storage"(+' +98 (% +3 "core" %9 U N S\ SS + "manipulator"&k% +4 "core" % v . y +2 ."brent"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."brent"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +22499 "Can"y\ DD +1427 #"brent"-> upperLimit = SE.at :upperLimit +25577 #-> SE.legend +28988 #-> -30650-(-30654) +4008 "Can"zz\ DD +2440 #"brent"-> SEsealOffset +5745 #-> SC +2 "storage"(\\& +4 "core" & s\ +558 #"brent"-> to 2 +2 "storage"(A% +4 "core" % \ + "manipulator"&$% +3 "core" %   x + "manipulator"&/& +3 "core" &i s ? yt +2 ."brent"SC.reconfigure :tight + "storage"($\ .(\ 1~b +4 ."brent"SC.seek 2 +2 "storage"(e( +195 "core" ( + ."brent"SC.configure :limp +3 "storage"($(\ 1b +3 (& +3 "core" & V N \  +596 #"brent"-> SE.up +2 .SE.seek :up +3 "storage"(1'F +277 "core" ' + "storage"(L% +3 "core" %L d Z T\ +4385 #"brent"-> SE.position.raw +2 "storage"(#% +4 "core" %L ] [ \ +3495 #"brent"-> SE.status.pwm +2 "storage"(H% +4 "core" %L W Y @\ +1755 #"brent"-> SE.jog -30 +2 .SE.jog -30 +3 "storage"() +25 "core" ) + "storage"(V% +3 "core" %4 \ +166 #"brent"-> SE.status.pwm +2 "storage"( % +4 "core" %1 \ +607 #"brent"-> SE.jog 30 +2 .SE.jog 30 +3 "storage"(N) +30 "core" ) + "storage"(?% +3 "core" %O V F @\  +160 #"brent"-> SE.status.pwm + "storage"(t% +5 "core" %P F P \  +564 #"brent"-> SE.jog 20 +2 .SE.jog 20 +3 "storage"(*) +13 "core" ) + "storage"(^% +3 "core" %y Z a *\ +154 #"brent"-> SE.status.pwm +2 "storage"(% +4 "core" %h J G \ +835 #"brent"-> SE.up +2 .SE.seek :up +3 "storage"('F +13 "core" ' + "storage"(%% +3 "core" %> g ]\ +809 #"brent"-> SE.position.raw +2 "storage"(<% +4 "core" %> X X u\ +3494 #"brent"-> SE.jog -10 +2 .SE.jog -10 +3 "storage"(") +4 "core" ) + "storage"(J% +3 "core" %> d [ 9\ +148 #"brent"-> SE.position.raw +2 "storage"(6% +4 "core" %> Y Y S\ +346 #"brent"-> SE.status.pwm +2 "storage"(% +4 "core" %> [ \\ _\ +380 #"brent"-> SE.jog -10 +2 .SE.jog -10 +3 "storage"(-) +5 "core" ) + "storage"( % +3 "core" %> e f p\ +192 #"brent"-> SE.status.pwm +2 "storage"(3% +3 "core" %> ] Z S\ +518 #"brent"-> SE.jog -10 +2 .SE.jog -10 +4 "storage"(() +3 "core" ) + "storage"(D% +3 "core" %> d [ 4\ +206 #"brent"-> SE.status.pwm +2 "storage"(Z% +4 "core" %> X Z 2\ +982 #"brent"-> SE.rawPosition +2 "storage"(B% +4 "core" %> X \\ \ +1430 #"brent"-> SE.down +2 .SE.seek :down +3 "storage"(K' +281 "core" ' + "storage"(b% +3 "core" % q h\  +2693 #"brent"-> MainThread.exit +5 #mEXIT + !"brent"o:ThreadError: mesg"killed thread:bt["3/home/esp/esp2/lib/schedule.rb:280:in `wakeup'"8/home/esp/esp2/lib/schedule.rb:280:in `threadReady'"3/home/esp/esp2/lib/schedule.rb:288:in `unsync'"(eval):4:in `gets'"1/home/esp/esp2/lib/cmdserver.rb:413:in `run'"0/home/esp/esp2/lib/prompter.rb:20:in `call'"6/home/esp/esp2/lib/prompter.rb:20:in `callKbdPrc'"9/home/esp/esp2/lib/prompter.rb:38:in `claimKeyboard'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'"9/home/esp/esp2/lib/prompter.rb:38:in `claimKeyboard'"1/home/esp/esp2/lib/cmdserver.rb:412:in `run'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +7 #Session Ended @1636574105.94EST @1636574182.04EST = =tMAIN =mMAIN_scheduler @EST1636574183.53 #"core_reset"Sent BREAK + #t@0xF4EF, state=0x32F4, ifg=0x10, ie=0xFD + #@0xF705, state=0x32F4, ifg=0x10, ie=0xFD + #@0xF91C, state=0x32F4, ifg=0x10, ie=0xFD #@0xFB32, state=0x32F4, ifg=0x10, ie=0xFD + #@0xFD49, state=0x32F4, ifg=0x10, ie=0xFD + #@0xFF5F, state=0x32F4, ifg=0x10, ie=0xFD #@0x0175, state=0x32F4, ifg=0x10, ie=0xFD + #@0x028A, state=0x32F4, ifg=0x80, ie=0xFD + #@0x1187, state=0x3350, ifg=0x00, ie=0x75 #ESP2 v3.20 I2C Gateway v3.01 +9 #ESP2 v3.20 I2C Gateway v3.01 for core bus +164 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi"i +75 #Configuration for chris 11/9/21 brent@mbari.org\ /home/esp/esp2/type/shallow/chris/configure.rb\ +287 "Can"v\ KJ + v\ KJ + #tPolling Can every 10:00 +5 #Cleanly exited at 14:55:05EST10-Nov-21 +317 #-> SE.up +2 .SE.configure :default +152 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %њ  + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %J\ K\ J\ + .tSS.configure :default +2 "sampler")#.0X SE.status.pwm +2 "storage"(% +3 "core" %? Y X \ +1277 #t-> SE.rawPosition + "storage"(% +3 "core" %? Z [ J\ +849 #t-> SE.legend +1716 #-> SE.jog -20 + .SE.jog -20 +2 "storage"() +20 "core" ) + "storage"(% +3 "core" %4 \ Ǿ +459 #t-> SE.status.pwm +2 "storage"(% +3 "core" %4 6\ þ +1090 #t-> SE.status.positon + "storage"(% +3 "core" %4 E\ ¾ +2 !to:NoMethodError : mesgu:NameError::messageDundefined method `positon' for #: name: positon: args[:bt["(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +171 #-> SE.status.position +2 "storage"(% +3 "core" %4 j\ ¾ +1585 #t-> SE.jog 10 +2 .SE.jog 10 +2 "storage"( )\ +3 "core" ) + "storage"(!% +3 "core" %4 O\ +348 #t-> SE.status.pwm +2 "storage"("% +2 "core" %4 C\ +684 #t-> SE.status +2 "storage"(#% +3 "core" %4 \ +986 #t-> SE.jog 10 +2 .SE.jog 10 + "storage"($)\ +3 "core" ) + "storage"(%% +3 "core" %4 \ +265 #t-> SE.status +2 "storage"(&% +3 "core" %4 ,\ +916 #t-> SE.jog 15 +2 .SE.jog 15 + "storage"(') +18 "core" ) + "storage"((% +3 "core" %9  - D\ +161 #t-> SE.status + "storage"()% +3 "core" %9 - . \ +1510 #t-> SE.jog 15 +2 .SE.jog 15 +2 "storage"(*) +15 "core" ) + "storage"(+% +3 "core" %A c W O\ \ +187 #t-> SE.status + "storage"(,% +3 "core" %A Y [ P\ \ +2894 #t-> SE.at :up +280 #-> _.raw +2210 #-> require 'shuffle' +2074 #-> shuffle2 1,7 +2 #Shuffling two pucks from tube 1 to 7 of [1, 7] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'-& +3 "core" & + .tHand.open +2 "manipulator"&.1 +21 "core" 1 + "manipulator"&/% +3 "core" %  z | x + "storage"(0% +3 "core" %A g g\ \ + .tSE.seek :down +2 "storage"(1' +271 "core" ' + "storage"(2. +2 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(3( +195 "core" ( + .tSC.configure :limp +46 "storage"($(\ 1b +2 (4& +3 "core" & M O\ + "manipulator"&5& +3 "core" &i  yt +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&6(m +3 "core" ( + "manipulator"&7& +3 "core" &i v F yt + "storage"(8& +3 "core" & Z \\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&9' +110 "core" ' + "storage"(:& +3 "core" & { l\ + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(;'U +295 "core" ' + "storage"(<- +2 "core" -'4 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (=& +3 "core" & _ f \ + "manipulator"&>& +3 "core" &i |  xt + .tElbow.seek 1 +2 "manipulator"&?(m +2 "core" ( +2 "manipulator"&@& +3 "core" &i  yt + "storage"(A& +3 "core" & [ Z \ +2 .tForearm.seek 1 + 300 counts + "manipulator"&B'I +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&C/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&D& + "storage"(E' +6 "core" &i  yt + "manipulator"&F% +3 "core" % L z  x +2 .tForearm.seek :retract + "manipulator"&G' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +149 "core" ( + "manipulator"&I& +2 "core" ' +2 & W x + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +2 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&J& +3 "core" & |  y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'& +96 "core" ' + "manipulator"&L& +3 "core" & s  y + "manipulator"&M% +3 "core" % {  y + "collection"'N& +3 "core" &\ +2 "collection"'O& +4 "core" &\ + .tCC.seek :closed +2 "collection"'P(W +5 "core" &\  +10 &0~\ *y +9 &c\ ? +9 &P}\ P +10 &\\\ P +9 &a\ P +9 &Z\ P +10 &W`\ P +9 &_\ O +10 & Y\ O +9 &"\\\ O +9 &$`_\ O +10 &&"Z\ O +9 &'\\\ O +9 &)Z\ P +10 &+h_\ O +9 &-)\\\ P +10 &.Z\ O +9 &0`\ O +9 &2p]\ O +10 &42]\ O +9 &5^\ O +9 &7`\ O +10 &9x_\ O +9 &;:`\ O +10 &<]\ O +9 &>[\ O +9 &@]\ P +10 &BB\\\ O +9 &DV\ O +9 &E^\ P +10 &Gc\ P +9 &IDr\ Q +10 &J\ T +9 &L\ W +9 &Nw\ X +10 &P5\ Y +9 &Q\ Y +9 &S\ Z +10 &Ux\ Z +9 &Wy\ - +9 &W$\ A +9 ( +2 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 8/27 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&Q1 +2 "core" &W4\ ; +61 1 + "manipulator"&R% +3 "core" %  x + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +110 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%T& +3 "core" &\ + "manipulator"&U% +3 "core" % y w ] x + "storage"(V% +3 "core" % K C M\ + "storage"(W. +2 "core" .( +2 "storage"(X& +3 "core" & H D N\ + "storage"(Y& +3 "core" & 6 < \ + "manipulator"&Z& +3 "core" &  y + "manipulator"&[% +3 "core" % v  y + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&\\(m +148 "core" ( + "manipulator"&]& +3 "core" &v |  y\ + "storage"(^& +3 "core" & D H t\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&_' +103 "core" ' + "storage"(`& +3 "core" & M M >\ + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(a'U +308 "core" ' + "storage"(b- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (c& +3 "core" & - + \ + "manipulator"&d& +3 "core" &v  y\ + .tElbow.seek 1 +2 "manipulator"&e(m +3 "core" ( + "manipulator"&f& +3 "core" &v  y\ + "storage"(g& +3 "core" & 0 >\ +2 .tForearm.seek 1 + 300 counts + "manipulator"&h'I +36 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&i/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(k' +4 "core" &v  y\ + "manipulator"&l% +4 "core" % + x  y +2 .tForearm.seek :retract + "manipulator"&m' +101 "core" ' +2 .tElbow.seek PC + "manipulator"&n( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( + "manipulator"&o& +3 "core" &  y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" & ~  y + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&q' +114 "core" ' + "manipulator"&r& +3 "core" & w i  y + "manipulator"&s% +3 "core" % y + "processing"%t& +3 "core" &\ +2 "processing"%u& +3 "core" &\ +2 .tPC.seek :closed +2 "processing"%v(U +3 "core" &\  +9 &-x\ *y +10 &b\ ? +9 &6{\ P +10 &[\ O +9 &Z\ P +9 &{\\\ P +10 &!=\\\ P +9 &#[\ O +9 &$]\ O +10 &&[\ O +9 &(E^\ P +10 &*]\ P +9 &+Y\ P +9 &-[\ O +10 &/MY\ P +9 &1\\\ O +9 &2Z\ O +10 &4W\ P +9 &6VV\ O +10 &8Z\ O +9 &9Z\ O +9 &;Y\ P +10 &=]Y\ P +9 &? [\ O +9 &@[\ P +10 &B[\ P +9 &DfZ\ O +10 &F'Z\ P +9 &GZ\ P +9 &I\\\ P +10 &Klc\ P +9 &M*p\ Q +9 &N\ T +10 &P\ U +9 &Re\ U +10 &T%\ S +9 &UlBa\ %m +9 &U%\ ( +5 ( + "processing"%u& +4 #tProcessing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&w1 +2 "core" &U\ ( +53 1 + "manipulator"&x% +3 "core" %   x + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +103 "core" ' + "processing"%z& +3 "core" &U\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&{% +3 "core" % p 2 x + "storage"(|% +3 "core" % N L\ + "storage"(}. +2 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(~([o +990 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +2 (& +2 "manipulator"&& +3 "core" &[q \  \  +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" & i  y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('U + "manipulator"&( +5 "core" ( + "manipulator"&& +3 "core" & s v x + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & j j x + .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"& / +59 "core" / +2 .tPC.seek :open + "processing"% (p +97 "core" ' + "storage"( - +2 "core" -'U +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(' +37 "core" ' +222 ( + "storage"(& +3 "core" &[n * ) \  + "manipulator"&& +3 "core" &  y + "manipulator"&% +3 "core" % { } x + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(E +259 "core" ( + "manipulator"&& +3 "core" &T z | x\\ + "storage"(& +3 "core" &[n # ' \  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&' +106 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(- +2 "core" -' +2 .tSE.seek -0.33 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal + "storage"(#QK-0-\ b +3 .tSE.seek -1.32 Pucks below Top Plate +2 "storage"('B +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +2 "core" -'B +2 "storage"(!& +3 "core" &[n | -\  + "manipulator"&& +3 "core" &T 8 y\\ + .tElbow.seek 7 +2 "manipulator"&"(E +29 "core" ( + "manipulator"&#& +3 "core" &L z I x + "storage"(%& +3 "core" &[n \  +2 .tForearm.seek 7 + 450 counts + "manipulator"&&' +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.61 Pucks below Top Plate +2 "storage"( ' +64 "core" ' + "manipulator"&(& +3 "core" &L q } x + "storage"()& +3 "core" &[n . * p\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&$' +34 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.42 Pucks below Top Plate +2 "storage"(,'T +23 "core" ' + "manipulator"&'% +3 "core" %2  yF + "storage"(-& +3 "core" &[n \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&.'^ +21 "core" ' + "manipulator"&/& +3 "core" &J k  y + "storage"(0& +3 "core" &[n + + \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&2' +22 "core" ' + "storage"(*% +3 "core" %] G :\ +2 ."downElevator"SE.seek :down +3 "storage"(4' +99 (5% +3 "core" %J ) *\ TY + "manipulator"&7% +3 "core" % z  y +58 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +98 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ' + "storage"(& +3 "core" &[n Q W \  + "collection"':& +3 "core" &W5\ ; + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +3 "core" %  y + "storage"(% +3 "core" % N O\ + "storage"(<. +2 "core" .([o +2 "storage"(1& +3 "core" &[n M L\  + "storage"(=& +3 "core" &[n L L o\  + "manipulator"&>& +3 "core" &J } q x + .tElbow.seek 7 +2 "manipulator"&@(E +3 "core" ( + "manipulator"&A& +3 "core" &J  y + "storage"(C& +3 "core" &[n L O \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&D' +95 "core" ' + "storage"(F& +3 "core" &[n O O\  +2 .tSE.reconfigure :pick + "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(6'U +295 "core" ' + "storage"(9- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&I& +3 "core" &J | C x + "storage"(J& +3 "core" &[n 0 ,\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&;' +24 "core" ' + .tElbow.hold +2 "manipulator"&B, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(L- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(M'% +28 "core" ' + "manipulator"&N% +3 "core" %/Y  y + "storage"(?& +3 "core" &[n  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&E'[ +25 "core" ' + "manipulator"&G& +3 "core" &I l  y + "storage"(\ & +3 "core" &[n ' ( f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Q' +27 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(R' +35 "core" ' + "manipulator"&T& +3 "core" &I x y  x + "manipulator"&U% +3 "core" % x  y\ X +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +103 "core" ' +2 .tElbow.seek CC + "manipulator"&O( +149 "core" ( + "manipulator"&W& +3 "core" & y K y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" & t l x + .tForearm.seek CC +2 "manipulator"&Y'& +93 "core" ' + .tHand.close +2 "manipulator"&Z/ +52 "core" / +2 .tCC.seek :open + "collection"'[( +400 "core" ( + "storage"(K& +3 "core" &[n O M \  + "storage"(]& +3 "core" &[n W Y J\  + "manipulator"&^& +3 "core" &  y + "manipulator"&`% +3 "core" %   y + .tForearm.seek :retract +2 "manipulator"&H' +93 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&S(E +186 "core" ( + "manipulator"&b& +3 "core" &R\ xe + "storage"(c& +3 "core" &[n F ; F\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&d' +110 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&g1 +53 "core" 1 +2 "manipulator"&i% +3 "core" % /@  y + "storage"(j& +4 "core" &[n  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&l'[ +21 "core" ' + "manipulator"&\\& +3 "core" &O  yh + "storage"(_& +3 "core" &[n U Z 0\  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&a' +32 "core" ' + "storage"(h% +3 "core" % [ Y 2\ +2 ."downElevator"SE.seek :down +3 "storage"(o' +98 (p% +3 "core" %; B : ?\ RQ + "manipulator"&e% +3 "core" % # x +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +88 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling two pucks from tube 7 to 1 of [1, 7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'s& +3 "core" &\ + "manipulator"&t% +3 "core" %  y y x + "storage"(k% +3 "core" % Y [ P\ + "storage"(m. +2 "core" .([o +2 "storage"( & +3 "core" &[n X [\  + "storage"(w& +3 "core" &[n Z X 5\  + "manipulator"&x& +3 "core" &O\  yh + .tElbow.seek 7 +2 "manipulator"&z(E +3 "core" ( + "manipulator"&{& +3 "core" &O\ z N yh +2 "storage"(|& +3 "core" &[n \\ [ =\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&}' +103 "core" ' + "storage"(u& +3 "core" &[n [ d &\  + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(q'U +295 "core" ' + "storage"(3- +2 "core" -'3 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &[n Y \\ 7\  + "manipulator"&& +3 "core" &P\ w  xg + .tElbow.seek 7 +2 "manipulator"&(E +13 "core" ( + "manipulator"&& +3 "core" &P }  x% + "storage"( & +3 "core" &[n [ Y \  +2 .tForearm.seek 7 + 300 counts + "manipulator"& 'K +39 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&n/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(v' +6 "core" &P m {  x% + "manipulator"&% +3 "core" % x j p x +2 .tForearm.seek :retract + "manipulator"&' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ( ' + "manipulator"&& + ."downElevator"SE.stop +4 "storage"(5 +2 "core" & z  y% + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & p y x% + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'& +131 "core" ' + "manipulator"&& +3 "core" & t j 6 x% + "manipulator"&% +3 "core" %D o t x + "collection"'& +3 "core" &\ +2 "collection"'& +4 "core" &\ +2 .tCC.seek :closed + "collection"'(W +6 "core" &  +9 &0\ *y +9 &d\ ? +10 &W{\ O +9 &[\ O +10 &Z\ O +9 &^\ O +9 &a_\ N +10 &#\\\ N +9 & [\ N +9 &"^\ O +10 &$h[\ O +9 &&,Y\ N +10 &'^\ O +9 &)]\ N +9 &+q\\\ N +10 &-2\\\ O +9 &.Z\ O +9 &0]\ N +10 &2y\\\ N +9 &49Y\ O +10 &5T\ O +9 &7Y\ N +9 &9Z\ O +10 &;AX\ O +9 &=S\ O +9 &>Y\ O +10 &@W\ O +9 &BKT\ N +10 &DT\ N +9 &EY\ N +9 &G[\ O +10 &ILl\ Q +9 &K~\ S +9 &L\ V +10 &N|\ X +9 &P=\ Y +10 &Q\ Y +9 &S\ Z +9 &U~\ Z +10 &W#z\ . +9 &W\ E +8 ( +3 "collection"'& +2 "core" &W=\ > +2 #tCollection Clamp onSpring/offSpring for 8/27 samples, on/off torque 1.85 + .Hand.open + "manipulator"&!1 +63 "core" 1 + "manipulator"&% +3 "core" % D w s x + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%#& +3 "core" &\ + "manipulator"&%% +3 "core" %  o  x + "storage"((% +3 "core" % O L\ + "storage"(). +2 "core" .([o +2 "storage"(& +3 "core" &[n L O\  + "storage"(& +3 "core" &[n N O\  + "manipulator"&'& +3 "core" &  y% + "manipulator"&-% +3 "core" %  y + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&/(E +184 "core" ( + "manipulator"&0& +3 "core" &K t B y# + "storage"(& +3 "core" &[n L N E\  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&*' +103 "core" ' + "storage"(& +3 "core" &[n F M u\  + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"('U +311 "core" ' + "storage"(5- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (7& +3 "core" &[n I K \  + "manipulator"&&& +3 "core" &L s x x# + .tElbow.seek 7 +2 "manipulator"&"(E +2 "core" ( +2 "manipulator"& & +3 "core" &L   y# + "storage"($& +3 "core" &[n N O\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&.'K +41 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&:& + "storage"(' +6 "core" &L y  y# + "manipulator"&% +3 "core" % I z < yJ +2 .tForearm.seek :retract + "manipulator"&<' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&1( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&,& +3 "core" &  x z 5 x + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &   E x + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&>' +91 "core" ' + "manipulator"&A& +3 "core" &  | / x + "manipulator"&C% +3 "core" %  yH + "processing"%F& +3 "core" &\ +2 "processing"%2& +3 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(U +3 "core" &\ +9 & %\ #` +10 &VT\ 8 +9 &}\ L +9 &\ P +10 &\\\ P +9 &U\ P +10 & W\ P +68 &"cZ\ P + &$$Y\ P +6 &%W\ P + &'Z\ O &)lU\ O + &+.W\ O + &,\\\ O &.T\ P +6 &0sZ\ P +9 &25W\ P +10 &3Z\ P +9 &5Y\ P +9 &7|T\ O +10 &9?U\ O +9 &;Z\ O +9 &<X\ P +10 &>W\ O +9 &@GU\ O +10 &BY\ P +9 &CW\ P +9 &EZ\ O +10 &GMZ\ P +9 &IW\ O +9 &JY\ O +10 &Lc\ Q +9 &NJx\ T +10 &P\ V +9 &Q\ U +9 &S\ V +10 &U#sp\ %u +9 &U"b\ / +8 ( +3 "processing"%2& + "core" &U\ ( +2 #tProcessing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&+1 +59 "core" 1 + "manipulator"&8% +3 "core" %  yH + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' + "processing"%I& +3 "core" &U\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&J% +3 "core" %  }  x + "storage"(L% +3 "core" % ' ' >\ + "storage"(N. +2 "core" .([o +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(?( +982 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +2 (G& +2 "manipulator"&\ & +3 "core" & E p\ +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" &  ~  x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(T'U + "manipulator"&U( +5 "core" ( + "manipulator"&D& +3 "core" &  u u x + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &  s k c x + .tForearm.seek PC +2 "manipulator"&6' +113 "core" ' + .tHand.close +2 "manipulator"&;/ +62 "core" / +2 .tPC.seek :open + "processing"%E(p +73 "core" ' + "storage"(M- +3 "core" -'U + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(W' +39 "core" ' +244 ( + "storage"(X& +3 "core" & M O P\ + "manipulator"&Q& +3 "core" &  z I x + "manipulator"&B% +3 "core" % % y y 4 x + .tForearm.seek :retract +2 "manipulator"&Z' +107 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&V(m +267 "core" ( + "manipulator"&P& +3 "core" &w t z x + "storage"(K& +3 "core" & O N \ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&]' +106 "core" ' + .tHand.open +2 "manipulator"&^1 +58 "core" 1 +2 "storage"(`- +2 "core" -' +2 .tSE.seek -0.33 Pucks below Top Plate + "storage"(b' +27 "core" ' +2 .tSE.reconfigure :seal + "storage"(#QK-0-\ b +3 .tSE.seek -1.32 Pucks below Top Plate +2 "storage"(c'B +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +3 "core" -'B + "storage"(O& +3 "core" & } \ + "manipulator"&g& +3 "core" &w v y + .tElbow.seek 1 +2 "manipulator"&i(m +3 "core" ( + "manipulator"&j& +3 "core" &w  y + "storage"(\\& +3 "core" & } | B\ +2 .tForearm.seek 1 + 450 counts + "manipulator"&_' +28 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.61 Pucks below Top Plate +2 "storage"(h' +57 "core" ' + "manipulator"&H& +3 "core" &w j i  x + "storage"(p& +3 "core" & 2 + :\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&e' +33 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.42 Pucks below Top Plate +2 "storage"(d'T +26 "core" ' + "manipulator"&l% +3 "core" %/  y. + "storage"(s& +3 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 318 counts + "manipulator"&t'[ +24 "core" ' + "manipulator"&k& +3 "core" &w n k y + "storage"(m& +3 "core" &   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"& ' +21 "core" ' + "storage"(w% +3 "core" %Y , '\ +2 ."downElevator"SE.seek :down +3 "storage"(x' +99 (R% +3 "core" %M , .\ UZ + "manipulator"&{% +3 "core" % n | x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +88 "core" ' +78 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +2 "core" & 5 . J\ + "collection"'u& +3 "core" &W<\ > + #tStoring generic puck in Collection Clamp to tube 1 +2 "manipulator"&o% +3 "core" %  y + "storage"(f% +3 "core" % + )\ + "storage"(r. +2 "core" .( +2 "storage"(3& +3 "core" & * + \ + "storage"(& +3 "core" & # )\ + "manipulator"&& +3 "core" &w  y + .tElbow.seek 1 +2 "manipulator"&(m +3 "core" ( + "manipulator"& & +3 "core" &w H y + "storage"(n& +3 "core" & * *\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&y' +116 "core" ' + "storage"(& +3 "core" & N 6 \ + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(z'U +308 "core" ' + "storage"(}- +2 "core" -' +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &w w r \ x + "storage"(& +3 "core" & 3 +\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&q' +33 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&% +3 "core" %)E y + "storage"(& +3 "core" &\ \ A\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 312 counts + "manipulator"&v'U +21 "core" ' + "manipulator"&& +3 "core" &w | : y + "storage"([& +3 "core" & . -\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&!' +20 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(' +34 "core" ' + "manipulator"&#& +3 "core" &w D y + "manipulator"&%% +3 "core" %  B y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&)( +150 "core" ( + "manipulator"&& +3 "core" & x y  x + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & q l  x + .tForearm.seek CC +2 "manipulator"&''& +92 "core" ' + .tHand.close +2 "manipulator"&-/ +54 "core" / +2 .tCC.seek :open + "collection"'( +400 "core" ( + "storage"(& +3 "core" & [ c I\ + "storage"(0& +3 "core" & S H K\ + "manipulator"&& +3 "core" & { z - x + "manipulator"&% +3 "core" %  x  x + .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&(m +160 "core" ( + "manipulator"&5& +3 "core" &v u j % xT + "storage"(7& +3 "core" & G T \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&&' +110 "core" ' + .tElbow.hold +2 "manipulator"& , +2 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&$1 +59 "core" 1 +2 "manipulator"&% +3 "core" % 1@  y + "storage"(:& +4 "core" & , -\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 320 counts + "manipulator"&'] +19 "core" ' + "manipulator"&/& +3 "core" &v | 4 yT + "storage"(*& +3 "core" & P \\ (\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +35 "core" ' + "storage"(.% +3 "core" % R V 5\ +2 ."downElevator"SE.seek :down +4 "storage"(,' +97 (=% +3 "core" %e8 Y Y\ RR + "manipulator"&"% +3 "core" % w G x +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +102 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +15958 #t-> exit +5 #mEXIT @1636574751.30EST